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Karla Stepanova

6 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 ↗
2024

Bridging Language, Vision and Action: Multimodal VAEs in Robotic Manipulation Tasks

Gabriela Sejnova, Michal Vavrecka, Karla Stepanova
IROS 2024poster

In this work, we focus on unsupervised vision-language-action mapping in the area of robotic manipulation. Recently, multiple approaches employing pre-trained large language and vision models have been proposed for this task. However, they are computationally demanding and require careful fine-tunin…

Cited by 3Source ↗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 ↗
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 ↗