Lars Kunze

Honorary Research Fellow

School of Computer Science
University of Birmingham

Note: I joined the Oxford Robotics Institute (ORI) as a Postdoctoral Research Assistant in March 2017


Please find more recent updates on my homepage.


About me

Lars studied Cognitive Science (BSc, 2006) and Computer Science (MSc, 2008) at the University of Osnabrück, Germany, and partly at the University of Edinburgh, UK. He received his PhD (Dr. rer. nat.) from the Technical University of Munich, Germany, in 2014.

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During his PhD, Lars worked on methods for naive physics and commonsense reasoning in the context of everyday robot manipulation. He contributed to several national, European and international projects including RoboHow, RoboEarth, and the PR2 Beta program.

In May 2013, Lars was appointed as a Research Fellow in the Intelligent Robotics Lab at the School of Computer Science at Birmingham University. Here he worked on qualitative spatio-temporal models for perception planning and knowledge-enabled perception, contributing to the European research projects STRANDS and ALOOF.

He was a visiting researcher in the JSK Lab at the University of Tokyo, Japan (Summer 2011) and the Human-Robot Interaction Laboratory at Tufts University, US (Spring 2015).

Lars joined the Oxford Robotics Institute (ORI) as a Postdoctoral Research Assistant in March 2017.


News


Contact

  • Email: L.Kunze (at) cs.bham.ac.uk

Research interests

  • Artificial Intelligence
  • Robotics
  • Long-term Autonomy
  • Knowledge Representation for Robots
  • Commonsense and Naive Physics Reasoning
  • Active Visual Object Search
  • View Planning
  • Knowledge-enabled Perception
  • Experienced-based Learning
  • Web-enabled Robotics
  • Human-robot Interaction

Projects

Current:
  • STRANDS, Spatio-Temporal Representations and Activities for Cognitive Control in Long-Term Scenarios, EU FP7
  • ALOOF, Autonomous Learning of the Meaning of Objects, CHIST-ERA
Past:

Teaching

University of Birmingham, UK:

  • Term 2016/17: Introduction to AI, Guest lecture on Machine Learning
  • Term 2015/16: Intelligent Robotics, Guest lecture on Object Search in Human Environments
  • Term 2014/15: Intelligent Robotics, Lecture
  • Term 2013/14: Intelligent Robotics, Guest lecture on Commonsense and Naive Physics Reasoning for Everyday Manipulation Tasks
  • Term 2013/14: Robot Programming, Guest lecture on Version Control using Git (Slides, Video)
Technische Universität München (TUM), Germany:

  • SS12: Technical Cognitive Systems, Guest lecture on commonsense reasoning
  • WS11/12: Knowledge Representation in Artificial Intelligence, Postgraduate seminar
  • SS11: Artificial Intelligence, Undergraduate seminar
  • SS10: Artificial Intelligence, Undergraduate seminar
  • WS09/10: Knowledge Representation in Artificial Intelligence, Postgraduate seminar
  • WS09/10: Artificial Intelligence, Undergraduate semniar
  • SS09: Knowledge Representation in Artificial Intelligence, Postgraduate seminar
  • SS09: Artificial Intelligence, Undergraduate seminar
  • WS08/09: Discrete Structures, Tutorial

Supervised theses and student projects

University of Birmingham, UK:

  • Next Best View Planning for Object Recognition, MSc, Christopher McGreavy
  • Scene Understanding using 3D Segmentation, MSc, Karam Yaaqba
  • Equipping Robots with Common Sense about Space and Time, STEM Summer Placement, Maryan Anaba and Matty Lebo
  • Indirect Object Search based on Qualitative Spatial Relations, MSc, Keerthi Kumar
Technische Universität München (TUM), Germany:

  • Learning Probabilistic Geometrical Relations from Simulated Human Environments, Guided Research Project, Dianov Ilya
  • Acquiring Commonsense Knowledge for Robots using Games with a Purpose, BSc, Raphael Tessmer
  • Learning Physical Aspects of Robot Manipulation Tasks, BSc, Johannes Mikulash
  • Using Simulation-based Temporal Projections to Understand Physical Effects of Everyday Robot Manipulation Tasks, MSc, Reinhard Klapfer
  • Enabling Robots to Perform Cooking Tasks, BSc, Hanno Flohr
  • Towards Robots That Know What They Can Do - Semantic Representation of Robot Components, Capabilities and Actions, MSc, Tobias Roehm
  • Simulation-based Naive Physics Reasoning for Everyday Robot Manipulation, MSc, Emitza Guzman
  • Integrating Naive Physics into a Mobile Robot Knowledge Base, Guided Research Project, Emitza Guzman

Current and past research community activities

  • Program Committee member of the Special Track on AI & Autonomy Robotics at IJCAI-2017 (International Joint Conference on Artificial Intelligence)
  • Program Committee member of the Robotics Track at ICAPS-2017 (27th International Conference on Planning and Scheduling)
  • Program Committee member of AAAI-2017 (Thirty-First AAAI Conference on Artificial Intelligence)
  • Program Committee member of the IROS 2016 Workshop on Integrating Multiple Knowledge Representation and Reasoning Techniques in Robotics (MIRROR-16)
  • Program Committee member of IJCAI-16 (Twenty-fifth International Joint Conference on Artificial Intelligence)
  • Program Committee member of AAAI-2016 (Thirtieth AAAI Conference on Artificial Intelligence)
  • Program Committee member of AAAI-16-RF (Thirtieth AAAI Conference on Artificial Intelligence, Robotics Fellowships)
  • Program Committee member of the Robotics track at ICAPS 2016
  • Technical Theme Committee member of the International Conference on Intelligent Robotics and Applications (ICIRA 2015)
  • Program Committee member of the Robotics track at ICAPS 2015
  • Program Committee member of AAAI-15-RF (Twenty-ninth AAAI Conference on Artificial Intelligence, Robotics Fellowships)
  • Session chair of AI Reasoning Methods I at ICRA 2014
  • Program Committee member of ECAI 2014
  • Program Committee member of AAAI-14 Workshop on Artificial Intelligence and Robotics
  • Organizing Committee member of AAAI Spring Symposium 2014 on Qualitative Representations of Robots
  • Program Committee member of AAAI 2013 Workshop on Intelligent Robotic Systems
  • Reviewer of several journals including:
    • IEEE Transactions on Robotics (T-RO)
    • IEEE Transactions on Automation Science and Engineering (T-ASE)
    • IEEE Robotics and Automation Letters (RA-L)
    • Robotics and Automation Magazine (RAM)
    • Robotics and Autonomous Systems (RAS)
    • Journal of Intelligent and Robotic Systems (JINT)
  • Reviewer of several conferences including:
    • IROS, ICRA, AAAI, IJCAI, ICAPS, ECAI, RO-MAN, COGSCI

Publications

My citations on Google Scholar.

[24]
Jay Young, Valerio Basile, Lars Kunze, Elena Cabrio, and Nick Hawes. Towards Lifelong Object Learn- ing by Integrating Situated Robot Perception and Semantic Web Mining. In: 23rd European Conf. on Artificial Intelligence (ECAI’16). Accepted for publication. The Hague, Netherlands, 2016. Acceptance rate: 27%bib ]
[23]
Nick Hawes, Chris Burbridge, Ferdian Jovan, Lars Kunze, Bruno Lacerda, Lenka Mudrová, Jay Young, Jeremy L. Wyatt, Denise Hebesberger, Tobias Körtner, Rares Ambrus, Nils Bore, John Folkesson, Patric Jensfelt, Lucas Beyer, Alexander Hermans, Bastian Leibe, Aitor Aldoma, Thomas Faulhammer, Michael Zillich, Markus Vincze, Muhannad Al-Omari, Eris Chinellato, Paul Duckworth, Yiannis Gatsoulis, David C. Hogg, Anthony G. Cohn, Christian Dondrup, Jaime Pulido Fentanes, Tomás Krajník, João M. San- tos, Tom Duckett, and Marc Hanheide. The STRANDS Project: Long-Term Autonomy in Everyday Environments. In: CoRR abs/1604.04384 (2016). URL : http://arxiv.org/abs/1604.04384. [ bib ]
[22]
L. Kunze, M. Beetz, Envisioning the qualitative effects of robot manipulation actions using simulation-based projections, Artificial Intelligence (2015), Special Issue on AI and Robotics, DOI. [ bib ] (The paper has been also accepted in the Journal Track of ICAPS 2015)
[21]
Luis Riazuelo, Moritz Tenorth, Daniel Di Marco, Marta Salas, Dorian Gálvez-López, Lorenz Mösenlechner, Lars Kunze, Michael Beetz, Juan D. Tardós, Luis Montano, and J. M. Martinez Montiel. RoboEarth semantic mapping: A cloud enabled knowledge-based approach. IEEE Transactions on Automation Science and Engineering, 2015. [ bib ]
[20]
Akshaya Thippur, Chris Burbridge, Lars Kunze, Marina Alberti, John Folkesson, Patric Jensfelt, and Nick Hawes. A comparison of spatial relation models for scene understanding. In In Proceedings of the 29th AAAI Conference on Artificial Intelligence (AAAI-15), Austin, Texas, USA, Januar 2015. [ bib ]
[19]
Severin Lemaignan, Marc Hanheide, Michael Karg, Harmish Khambhaita, Lars Kunze, Florian Lier, Ingo Lütkebohle, and Gregoire Milliez. Simulation and HRI recent perspectives with the MORSE simulator. LNAI Lecture Notes in Artificial Intelligence. Springer, 2014. [ bib ]
[18]
Lars Kunze, Chris Burbridge, Marina Alberti, Akshaya Tippur, John Folkesson, Patric Jensfelt, and Nick Hawes. Combining top-down spatial reasoning and bottom-up object class recognition for scene understanding. In 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, Illinois, US, September, 14-18 2014. CoTeSys Cognitive Robotics Best Paper Award Finalist. [ bib ]
[17]
Lars Kunze, Keerthi Kumar Doreswamy, and Nick Hawes. Using qualitative spatial relations for indirect object search. In IEEE International Conference on Robotics and Automation (ICRA 2014), Hong Kong, China, May 31 - June 7 2014. [ bib ]
[16]
Lars Kunze, Chris Burbridge, and Nick Hawes. Bootstrapping probabilistic models of qualitative spatial relations for active visual object search. In AAAI Spring Symposium 2014 on Qualitative Representations for Robots, Stanford University in Palo Alto, California, US, March, 24-26 2014. [ bib ]
[15]
Lars Kunze. Naïve physics and commonsense reasoning for everyday robot manipulation. PhD thesis, München, Technische Universität München, Diss., 2014, 2014. [ bib ]
[14]
Lars Kunze and Nick Hawes. Indirect object search based on qualitative spatial relations. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Workshop on AI-based Robotics, Tokyo Big Sight, Tokyo, Japan, November, 3-8 2013. [ bib ]
[13]
L. Riazuelo, M. Tenorth, D. Di Marco, M. Salas1, L. Moesenlechner, L. Kunze, M. Beetz, J. D. Tardos, L. Montano, and J. M. M. Montiel. RoboEarth web-enabled and knowledge-based active perception. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). Workshop on AI-based Robotics, Tokyo Big Sight, Tokyo, Japan, November, 3-8 2013. [ bib ]
[12]
Lars Kunze, Andrei Haidu, and Michael Beetz. Acquiring task models for imitation learning through games with a purpose. In 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo Big Sight, Tokyo, Japan, November, 3-8 2013. [ bib ]
[11]
Reinhard Klapfer, Lars Kunze, and Michael Beetz. Pouring and mixing liquids - understanding the physical effects of everyday robot manipulation actions. In 35th German Conference on Artificial Intelligence (KI-2012), Workshop on Human Reasoning and Automated Deduction, Saarbrücken, Germany, September 24-27 2012. [ bib ]
[10]
Lars Kunze, Andrei Haidu, and Michael Beetz. Making virtual pancakes - acquiring and analyzing data of everyday manipulation tasks through interactive physics-based simulations. In Poster and Demo Track of the 35th German Conference on Artificial Intelligence (KI-2012), Saarbrücken, Germany, September 24-27 2012. [ bib ]
[9]
Lars Kunze, Michael Beetz, Manabu Saito, Haseru Azuma, Kei Okada, and Masayuki Inaba. Searching objects in large-scale indoor environments: a decision-thereotic approach. In IEEE International Conference on Robotics and Automation (ICRA), St. Paul, MN, USA, May 14-18 2012. [ bib ]
[8]
Michael Beetz, Dominik Jain, Lorenz Mösenlechner, Moritz Tenorth, Lars Kunze, Nico Blodow, and Dejan Pangercic. Cognition-enabled autonomous robot control for the realization of home chore task intelligence. Proceedings of the IEEE, Special Issue on Quality of Life Technology, 100(8):2454-2471, 2012. [ bib ]
[7]
Lars Kunze, Mihai Emanuel Dolha, and Michael Beetz. Logic programming with simulation-based temporal projection for everyday robot object manipulation. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, USA, September, 25-30 2011. Best Student Paper Finalist. [ bib ]
[6]
Manabu Saito, Haseru Chen, Kei Okada, Masayuki Inaba, Lars Kunze, and Michael Beetz. Semantic object search in large-scale indoor environments. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on Active Semantic Perception and Object Search in the Real World, San Francisco, CA, USA, September, 25-30 2011. [ bib ]
[5]
Lars Kunze, Mihai Emanuel Dolha, Emitza Guzman, and Michael Beetz. Simulation-based temporal projection of everyday robot object manipulation. In Yolum, Tumer, Stone, and Sonenberg, editors, Proc. of the 10th Int. Conf. on Autonomous Agents and Multiagent Systems (AAMAS 2011), Taipei, Taiwan, May, 2-6 2011. IFAAMAS. [ bib ]
[4]
Lars Kunze, Tobias Roehm, and Michael Beetz. Towards semantic robot description languages. In IEEE International Conference on Robotics and Automation (ICRA), pages 5589-5595, Shanghai, China, May, 9-13 2011. [ bib ]
[3]
Moritz Tenorth, Lars Kunze, Dominik Jain, and Michael Beetz. KNOWROB-MAP - knowledge-linked semantic object maps. In 10th IEEE-RAS International Conference on Humanoid Robots, pages 430-435, Nashville, TN, USA, December 6-8 2010. [ bib ]
[2]
Lars Kunze, Moritz Tenorth, and Michael Beetz. Putting people's common sense into knowledge bases of household robots. In 33rd Annual German Conference on Artificial Intelligence (KI 2010), pages 151-159, Karlsruhe, Germany, September 21-24 2010. Springer. [ bib ]
[1]
Lars Kunze, Kai Lingemann, Andreas Nüchter, and Joachim Hertzberg. Salient visual features to help close the loop in 6D slam. In The 5th International Conference on Computer Vision Systems, 2007, 2007. [ bib ]