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Jan Kristof Behrens

14 accepted papers

2026

ILeSiA: Interactive Learning of Robot Situational Awareness from Camera Input

Petr Vanc, Giovanni Franzese, Jan Kristof Behrens, Cosimo Della Santina, Karla Stepanova, Jens Kober +1
ICRA 2026poster

Learning from demonstration is a promising way to teach robots new skills. However, a central challenge in executing acquired skills is the ability to recognize faults and prevent failures. This is essential since the demonstrations usually cover only a limited number of mostly successful cases. Dur…

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Closed Loop Interactive Embodied Reasoning for Robot Manipulation

Michal Nazarczuk, Jan Kristof Behrens, Karla Stépánová, Matej Hoffmann, Krystian Mikolajczyk
ICRA 2025

Embodied reasoning systems integrate robotic hardware and cognitive processes to perform complex tasks, typically in response to a natural language query about a specific physical environment. This usually involves changing the belief about the scene or physically interacting and changing the scene

Cited by 5Source ↗Scholar ↗
2024

Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements

Andrej Kruzliak, Jiri Hartvich, Shubhan P. Patni, Lukas Rustler, Jan Kristof Behrens, Fares J. Abu-Dakka +3
IROS 2024poster

This work presents a framework for automatically extracting physical object properties, such as material composition, mass, volume, and stiffness, through robot manipulation and a database of object measurements. The framework involves exploratory action selection to maximize learning about objects…

Cited by 2Source ↗code ↗Scholar ↗
2023

Communicating human intent to a robotic companion by multi-type gesture sentences

Petr Vanc, Jan Kristof Behrens, Karla Stepanova, Vaclav Hlavac
IROS 2023poster

Human-Robot collaboration in home and industrial workspaces is on the rise. However, the communication between robots and humans is a bottleneck. Although people use a combination of different types of gestures to complement speech, only a few robotic systems utilize gestures for communication. In t…

Cited by 9Source ↗Scholar ↗
2023

Imitrob: Imitation Learning Dataset for Training and Evaluating 6D Object Pose Estimators

Jirí Sedlár, Karla Stépánová, Radoslav Skoviera, Jan Kristof Behrens, Matús Tuna, Gabriela Sejnova +2
RA-L 2023

This letter introduces a dataset for training and evaluating methods for 6D pose estimation of hand-held tools in task demonstrations captured by a standard RGB camera. Despite the significant progress of 6D pose estimation methods, their performance is usually limited for heavily occluded objects,

Cited by 7Source ↗code ↗Scholar ↗
2022

Active Visuo-Haptic Object Shape Completion

Lukas Rustler, Jens Lundell, Jan Kristof Behrens, Ville Kyrki, Matej Hoffmann
RA-L 2022

Recent advancements in object shape completion have enabled impressive object reconstructions using only visual input. However, due to self-occlusion, the reconstructions have high uncertainty in the occluded object parts, which negatively impacts the performance of downstream robotic tasks such as

Cited by 31Source ↗code ↗Scholar ↗
2022

SurfMan: Generating Smooth End-Effector Trajectories on 3D Object Surfaces for Human-Demonstrated Pattern Sequence

Radoslav Skoviera, Jan Kristof Behrens, Karla Stépánová
RA-L 2022

Specifying robot tasks for low-volume manufacturing scenarios is an open problem. The state-of-the-art robotic systems enable the application of smooth 2 <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">D</i> paths to a 3 <italic xmlns:mml="http://www

Cited by 0Source ↗Scholar ↗
2021

Embodied Reasoning for Discovering Object Properties via Manipulation

Jan Kristof Behrens, Michal Nazarczuk, Karla Stepanova, Matej Hoffmann, Yiannis Demiris, Krystian Mikolajczyk
ICRA 2021poster

In this paper, we present an integrated system that includes reasoning from visual and natural language inputs, action and motion planning, executing tasks by a robotic arm, manipulating objects, and discovering their properties. A vision to action module recognises the scene with objects and their…

Cited by 5Source ↗Scholar ↗
2020

Simultaneous task allocation and motion scheduling for complex tasks executed by multiple robots

Jan Kristof Behrens, Karla Stepanova, Robert Babuska
ICRA 2020poster

The coordination of multiple robots operating simultaneously in the same workspace requires the integration of task allocation and motion scheduling. We focus on tasks in which the robot's actions are not confined to small volumes, but can also occupy a large time-varying portion of the workspace, s…

Cited by 23Source ↗Scholar ↗
2019

A Constraint Programming Approach to Simultaneous Task Allocation and Motion Scheduling for Industrial Dual-Arm Manipulation Tasks

Jan Kristof Behrens, Ralph Lange, Masoumeh Mansouri
ICRA 2019poster

Modern lightweight dual-arm robots bring the physical capabilities to quickly take over tasks at typical industrial workplaces designed for workers. Low setup times - including the instructing/specifying of new tasks - are crucial to stay competitive. We propose a constraint programming approach to…

Cited by 48Source ↗code ↗Scholar ↗
2019

Safe physical HRI: Toward a unified treatment of speed and separation monitoring together with power and force limiting

Petr Svarny, Michael Tesar, Jan Kristof Behrens, Matej Hoffmann
IROS 2019poster

So-called collaborative robots are a current trend in industrial robotics. However, they still face many problems in practical application such as reduced speed to ascertain their collaborativeness. The standards prescribe two regimes: (i) speed and separation monitoring and (ii) power and force lim…

Cited by 52Source ↗Scholar ↗
2019

Specifying Dual-Arm Robot Planning Problems Through Natural Language and Demonstration

Jan Kristof Behrens, Karla Stépánová, Ralph Lange, Radoslav Skoviera
RA-L 2019

Multi-modal robot programming with natural language and demonstration is a promising technique for efficient teaching of manipulation tasks in industrial environments. In particular, with modern dual-arm robots designed to quickly take over tasks at typical industrial workbenches, the direct teachin

Cited by 15Source ↗Scholar ↗