Selected Publications

For a complete list of papers and some statistics, please also check out Google scholar citations.

2017

Nolte, A., Hennes, D., Izzo, D., Blum, C., Hafner, V.V., and Gheysens, T. (2017). A Note on the Depth-from-Defocus Mechanism of Jumping Spiders, Biomimetics. 2017; 2(1):3

Berthold, O. and Hafner, V.V. (2017). Tapping the sensorimotor trajectory, 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob)

Pico Villalpando, A., Schillaci, G., Hafner, V.V. and Lara, B. (2017). On Robots Imitating Movements Through Motor Noise Prediction, 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob)

Gerken, A.K.R., Berthold, O. and Hafner, V.V. (2017). Behavioral diversity through homeokinesis in a compliant robot, poster abstract at the 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), Lisbon, Portugal

Acevedo Valle, J.M., Hafner, V.V., and Angulo, C. (2017). Social Reinforcement in Intrinsically Motivated Sensorimotor Exploration for Embodied Agents with Constraints Awareness, 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob)

Acevedo Valle, J.M., Ruiz, C., Hafner, V.V., and Angulo, C. (2017). Deep Neural Networks in Social Reinforced Sensorimotor Exploration, poster presentation at the 2nd Workshop on Language Learning at 2017 IEEE ICDL-EPIROB, Lisbon, Portugal

Stiehler, F. and Hafner, V.V. (2017). Touch prediction and development of the self, poster presentation at the Workshop on the Development of the Self, @ the 7th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), Lisbon, Portugal

Bodiroža, Saša (2017). Gestures in human-robot interaction – development of intuitive gesture vocabularies and robust gesture recognition; Dissertation, Humboldt-Universität zu Berlin, Mathematisch-Naturwissenschaftliche Fakultät , published 16.02.2017, urn:nbn:de:kobv:11-100244350


2016
Schillaci, G., Hafner, V.V., Lara, B. (Editors) (2016). Re-enacting sensorimotor experience for cognition, Research Topic in Frontiers in Robotics and AI, Section Humanoid Robotics. doi: 10.3389/ frobt.2016.00077

Schillaci, G., Hafner, V.V., Lara, B. (2016), Exploration behaviours, body representations and simulation processes for the development of cognition in artificial agents, Frontiers in Robotics and AI, section Humanoid Robotics, 3:39. doi: 10.3389/frobt.2016.00039

Pico, A., Schillaci, G., Hafner, V.V., Lara, B. (2016), How Do I Sound Like? Forward Models for Robot Ego-Noise Prediction, Proceedings of the 6th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), pp. 246-251, Paris, France

Guertel, I., Schillaci, G., Hafner, V.V. (2016), Using proprioceptive information for the development of robot body representations, Proceedings of the 6th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), pp. 172-173, Paris, France

Bechtle, S., Schillaci, G., Hafner, V.V. (2016), On the Sense of Agency and of Object Permanence in Robots, Proceedings of the 6th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), pp. 166-171, Paris, France

Hafner, V.V. and Kyselo, M. (2016), Development of a self-model and its implications for a dynamic body schema, Workshop on the development of body knowledge in humans and machines @ 6th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, Paris, France

Pico, A., Schillaci, G., Hafner, V.V., Lara, B. (2016), Learning and Imitating Robot Ego-Noise, Workshop on the development of body knowledge in humans and machines @ 6th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics, Paris, France

Schillaci, G., Ritter, C.-N., Hafner, V.V., Lara, B. (2016), Body Representations for Robot Ego-Noise Modelling and Prediction. Towards the Development of a Sense of Agency in Artificial Agents, International Conference on the Simulation and Synthesis of Living Systems (ALife XV), pp. 390-397, Mexico, July 2016

E. Escobar-Juárez, G. Schillaci, J. Hermosillo-Valadez and B. Lara-Guzmán (2016), A Self-Organized Internal Models Architecture for Coding Sensory-Motor Schemes, Frontiers in Robotics and AI, section Humanoid Robotics, 3:22. doi: 10.3389/frobt.2016.00022

S. Bodiroza, V. Tourbabin, G. Schillaci, J. Sheaffer, V. Hafner and B. Rafaely (2016), On Natural Robot Movements for Enriching Acoustic Information, paper abstract and oral presentation at the Israeli Conference on Robotics (ICR 2016), Herzelia, Israel, April 2016

Schlotter, B., Mellmann, H., Blum, C. (2016).
Simulation Based Selection of Actions for a Humanoid Soccer-Robot. 20th RoboCup International Symposium: Robot Soccer World Cup XVI



2015
Berthold, O. and Hafner, V.V. (2015), Closed-loop acquisition of behaviour on the Sphero robot, Proceedings of the European Conference on Artificial Life 2015, pp. 472-478, MIT Press.

Schmerling, M., Schillaci, G., Hafner, V.V. (2015), Goal-Directed Learning of Hand-Eye Coordination in a Humanoid Robot, Proceedings of the IEEE 5th International Conference on Development and Learning and on Epigenetic Robotics, pp. 168-175. BEST STUDENT PAPER AWARD

Bechtle, S., Schillaci, G., Hafner, V.V. (2015), First Steps Towards the Development of the Sense of Object Permanence in Robots, poster abstract, IEEE 5th International Conference on Development and Learning and on Epigenetic Robotics 2015, pp. 283-284.

Berthold, O. and Hafner, V.V. (2015), Black Box Optimization of PID controllers for Micro Aerial Vehicles, poster abstract at the Second Annual Machine Learning in Planning and Control of Robot Motion Workshop (MLPC) held at IROS 2015.

Blum, Christian (2015). Self-organization in networks of mobile sensor nodes; Dissertation, Humboldt-Universität zu Berlin, Mathematisch-Naturwissenschaftliche Fakultät , published 10.12.2015, urn:nbn:de:kobv:11-100234170


2014
Gangemi, A., Hafner, V.V., Kuhn, W., Scheider, S., Steels, L. (2014), Spatial reference in the Semantic Web and in Robotics (Dagstuhl Seminar 14142), Dagstuhl Reports, Vol. 4, No. 3, pp. 181-201, ISSN 2192-5283.

Schillaci, G., Hafner, V.V., Lara, B. (2014), Online Learning of Visuo-Motor Coordination in a Humanoid Robot. A Biologically Inspired Model, 4th International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob 2014), pp. 145-151, Genova, Italy.

Blum, C. and Hafner, V. V. (2014). Gradient-based taxis algorithms for network robotics. arXiv preprint arXiv:1409.7580.

Drix, D., Hafner, V.V. (2014), Learning proprioceptive and motor features, IEEE 4th International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob 2014), pp. 357-361, Genova, Italy.

Schillaci, G., Hafner, V.V., Lara, B. (2014), Body-Representations for Sensorimotor Coordination and Tool-Use, Poster at Workshop on Development of body representations in humans and robots at ICDL-EpiRob 2014, Genova, Italy.

Mar, T., Hafner, V.V., (2014), Curiosity driven motor babbling for Body Map acquisition, Poster at Workshop on Development of body representations in humans and robots at ICDL-EpiRob 2014, Genova, Italy.

Winfield, A.F.T., Blum, C. and Liu, W. (2014), Towards an ethical robot: internal models, consequences and ethical action selection, Towards Autonomous Robotic Systems (TAROS-14), M. Mistry et al. (Eds.): TAROS 2014, Springer LNAI 8717, pp. 85–96, 2014.

Bodiroža, S. and Hafner, V.V. (2014), “GRaD: Gesture Recognition and Disambiguation Framework for Unconstrained, Real-Life Scenarios”, Workshop on Real-Time Gesture Recognition for Human Robot Interaction at the 13th International Conference on Intelligent Autonomous Systems (IAS-13), Padova, Italy.

Drix, D. (2014), Learning Sensorimotor Affordances in an Embodied Autonomous Robot, Abstract Proceedings of the International IEEE/EPSRC Workshop on Autonomous Cognitive Robotics, Stirling, UK.

Schillaci, G. (2014), Sensorimotor learning and simulation of experience as a basis for the development of cognition in robotics; Dissertation, Humboldt-Universität zu Berlin, Mathematisch-Naturwissenschaftliche Fakultät II , published 11.03.2014, urn:nbn:de:kobv:11-100215988

Martius, G., Jahn, L., Hauser, H., Hafner, V.V. (2014), Self-Exploration of the Stumpy Robot with Predictive Information Maximization, From Animals to Animats 13, 13th International Conference on Simulation of Adaptive Behavior (SAB2014), pp. 32-42, Springer Lecture Notes in Artificial Intelligence 8575. BEST PAPER AWARD

Berthold, O. and Hafner, V.V. (2014), Unsupervised learning of sensory primitives from optical flow fields, From Animals to Animats 13, 13th International Conference on Simulation of Adaptive Behavior (SAB2014), pp. 188-197, Springer Lecture Notes in Artificial Intelligence 8575

Kajic, I., Schillaci, G., Bodiroza, S. and Hafner, V.V. (2014), Learning hand-eye coordination for a humanoid robot using SOMs, Proceedings of the 9th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2014), pp. 192-193, Bielefeld, Germany.

Blum, C., Berthold, O., Rhan, P. and Hafner, V.V. (2014), Intuitive control of small flying robots, Proceedings of the 9th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2014), pp. 128-129, Bielefeld, Germany.

Kajic, I., Schillaci, G., Bodiroza, S. and Hafner, V.V. (2014), A Biologically Inspired Model for Coding Sensorimotor Experience Leading to the Development of Pointing Behaviour in a Humanoid Robot, Workshop on “HRI: a bridge between Robotics and Neuroscience” at HRI-2014, Bielefeld, Germany.


2013
Schillaci, G., Bodiroza, S. and Hafner, V.V. (2013), Evaluating the Effect of Saliency Detection and Attention Manipulation in Human-Robot Interaction, International Journal of Social Robotics, Springer, Volume 5, Issue 1 (2013), pages 139-152, DOI 10.1007/s12369-012-0174-7 OPEN ACCESS.

Bodiroža, S., Doisy, G. and Hafner, V.V. (2013), Position-Invariant, Real-Time Gesture Recognition Based on Dynamic Time Warping, in Proceedings of the 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2013), pp. 87-88, Tokyo, Japan.

Doisy, G., Jevtić, A. and Bodiroža, S. (2013), Spatially Unconstrained, Gesture-Based Human-Robot Interaction, in Proceedings of the 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2013), Tokyo, Japan.

Schillaci, G., Hafner, V.V., Lara, B. and Grosjean, M. (2013), Is That Me? Sensorimotor Learning and Self-Other Distinction in Robotics, in Proceedings of the 8th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2013), pp. 223-224, Tokyo, Japan.

Blum, C. and Hafner, V.V. (2013), Robust Exploration Strategies for a Robot exploring a Wireless Network, Workshop SACS/SoCoDiS – Conference on Networked Systems (NetSys) – KiVS 2013, Stuttgart, published in Electronic Communications of the EASST, Vol. 56, pp.1-12, Stuttgart, Germany.

Bachmann, F., Herbst, R., Gebbers, R. and Hafner, V. (2013), Micro UAV-based geo-referenced orthophoto generation in VIS+NIR for Precision Agriculture, International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences, Volume XL-1/W2, 2013, pp. 11-16, Eds.: G. Grenzdörffer and R. Bill, UAV-G conference, Rostock, Germany.

Schillaci, G., Hafner, V.V., Lara, B. and Grosjean, M. (2013), Sensorimotor predictions and self-other recognition in robotics, Fifth Joint Action Meeting (JAM V), Berlin, Germany.

Bodiroža, S., Grabolle, C. and Hafner, V.V. (2013), Reactive Following Handshake Model for Human-Robot Interaction, Fifth Joint Action Meeting (JAM V), Berlin, Germany.

Schillaci, G., Hafner, V.V., Lara, B. (2013), I Know How I Would Do It. Internal Simulations of Sensorimotor Experience, Workshop on Active learning in robotics: Exploration, Curiosity, and Interaction at Robotics Science and Systems (RSS), Berlin, Germany.

Gosmann, J., Blum, C., Berthold, O. and Hafner, V.V. (2013), Tactile Sensors for Learning of Soft Landing on a Flying Robot, Workshop on Sensitive Robots at Robotics Science and Systems (RSS), Berlin, Germany.

Bodiroža, S., Jevtić, A., Lara, B. and Hafner, V. (2013), Learning the Relation of Motion Control and Gestures Through Self-Exploration, Proceedings of the 1st Workshop on Robotics Challenges and Vision (RCV2013) at Robotics Science and Systems (RSS), pp. 21-27, arXiv:1402.3213v1, Berlin, Germany.

Berthold, O. and Hafner, V.V. (2013), Unsupervised learning of camera exposure control using randomly connected neural networks, 2nd RED-UAS 2013 Workshop on Research, Education and Development of Unmanned Aerial Systems, Compiegne, France.

Bodiroža, S., Jevtić, A., Lara, B. and Hafner, V. (2013), Learning Motion Control for Guiding a Robot using Gestures, 4th Israeli Conference on Robotics (ISR2013).

Berthold, O. and Hafner, V.V. (2013), Neural sensorimotor primitives for vision-controlled flying robots, Workshop on Vision-based Closed-loop Control and Navigation of Micro Helicopters in GPS-denied Environments at IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013), Tokyo, Japan.

Kozlov, A., Gancet, J., Letier, P., Schillaci, G., Hafner, V.V., Fonooni, B., Nevatia, Y. and Hellstrom, T. (2013), Development of a Search and Rescue field Robotic Assistant, 11th IEEE International Symposium on Safety, Security, and Rescue Robotics, Linköping, Sweden.


2012
Schillaci, G., Lara, B. and Hafner, V.V. (2012), Internal Simulations for Behaviour Selection and Recognition, in Human Behaviour Understanding 2012, A.A. Salah et al. (Eds.), Lecture Notes in Computer Science, Volume 7559, pp. 148-160.

Frömer, R., Hafner, V.V. and Sommer, W. (2012), Aiming for the bull’s eye: throwing investigated with event related brain potentials, Psychophysiology, Volume 49, Issue 3, pages 335–344, Wiley New York.

Hafner, V. V. (2012), Roboterkörper, book chapter in: André Blum, John Krois, Hans-Jörg Rheinberger (Hrsg.), Verkörperungen, Akademie-Verlag Berlin, pp. 135-146, ISBN 978-3-05-005699-9.

Blum, C. and Hafner, V.V. (2012), An Autonomous Flying Robot for Network Robotics, Proceedings of the 7th German Conference on Robotics (ROBOTIK 2012), pp. 36-40, Munich.

Schillaci, G., Hafner, V.V., Lara, B. (2012), Coupled Inverse-Forward Models for Action Execution Leading to Tool-Use in a Humanoid Robot, Proceedings of the 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2012), pp. 231-232, Boston, USA.

Bodiroža, S., Stern, H. I., Edan, Y. (2012), Dynamic Gesture Vocabulary Design for Intuitive Human-Robot Dialog, Proceedings of the 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2012), Boston, USA.

Schillaci, G., Hafner, V.V., Lara, B. (2012), Sensorimotor Loop Simulations as a Prerequisite for Imitation. Experiments with a Humanoid Robot, poster at the International Conference on ”Knowledge through Interaction: How children learn about self, others and objects”, Heidelberg, Germany.

Schillaci, G., Lara, B., Hafner, V.V. (2012), Internal Simulation of the Sensorimotor Loop in Action Execution and Recognition, In: Proceedings of the 5th International Conference on Cognitive Systems (CogSys2012), p. 105, TU Vienna, Austria.

2011

Bodiroza, S., Schillaci, G. and Hafner, V.V. (2011), Robot Ego-sphere: An Approach for Saliency Detection and Attention Manipulation in Humanoid Robots for Intuitive Interaction, Proceedings of the 11th IEEE-RAS International Conference on Humanoid Robots, pp. 689–694, Bled, Slovenia, ISBN: 978-1-61284-867-9.

Al-Rikabi, S. and Hafner, V. (2011), A Humanoid Robot as a Translator from Text to Sign Language, 5th Language & Technology Conference: Human Language Technologies as a Challenge for Computer Science and Linguistics (LTC 2011), Poland, pp. 375-379.

Hafner, V.V. and Schillaci, G. (2011), From field of view to field of reach - could pointing emerge from the development of grasping? Frontiers in Computational Neuroscience, Conference Abstract: IEEE ICDL-EPIROB 2011.

Bodiroza, S. (2011), Using Image Depth Information for Fast Face Detection, in Proceedings of the 12th Towards Autonomous Robotic Systems (TAROS’2011) Conference, Sheffield, UK.

Hafner, V.V., Lohse, M., Meyer, J., Nagai, Y. and Wrede, B. (Eds.)(2011), Proceedings of the Workshop on “The role of expectations in intuitive human-robot interaction” (at HRI 2011), Lausanne, Switzerland, March 6, 2011.

Schillaci, G. and Hafner, V.V. (2011), Prerequisites for intuitive interaction - on the example of humanoid motor babbling, in Proceedings of the Workshop on “The role of expectations in intuitive human-robot interaction” (at HRI 2011), pp. 23–27.

Berthold, O., Müller, M., Hafner, V.V. (2011), A quadrotor platform for bio-inspired navigation experiments, International workshop on bio-inspired robots, Nantes, France.

Hafner, V.V. (2011), Roboterkörper, book chapter in Verkörperungen, André L. Blum, John Michael Krois und Hans-Jörg Rheinberger (Hrsg.), Max Planck Institute for the History of Science, Berlin, Preprint 416, pp. 175-181 (Kapitel 9)

Schillaci, G., Hafner, V.V. (2011). Random Movement Strategies in Self-Exploration for a Humanoid Robot, Proceedings of the 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2011), pp. 245-246.

2010
Hafner, V.V., Bachmann, F., Berthold, O., Schulz, M., Müller, M. (2010), An Autonomous Flying Robot for Testing Bio-Inspired Navigation Strategies, Proceedings of ISR/Robotik 2010, Joint conference of the 41st International Symposium on Robotics (ISR 2010) and the 6th German Conference on Robotics (ROBOTIK 2010)

Kronemann, M.L., Hafner, V.V. (2010), LumiBots - Making Emergence Graspable in a Swarm of Robots, Proceedings of DIS 2010, The ACM Designing Interactive Systems Conference, Aarhus, pp. 408-411, ISBN 978-1-4503-0103-9 (video on the lumibots webpage)

2009
Hafner, V.V. and Sommer, W. (2009), Experimental setup for studying the development of tool-use on the example of object throwing, Proceedings of EpiRob09, Ninth International Conference on Epigenetic Robotics, pp. 209-210, Lund University Cognitive Studies, 146, Editors: Lola Canamero, Pierre-Yves Oudeyer, Christian Balkenius

Bertsch, F.A. and Hafner, V.V. (2009), Real-time dynamic visual gesture recognition in human-robot interaction, Proceedings of Humanoids 2009, 9th IEEE-RAS International Conference on Humanoid Robots, Paris, France, pp. 447-453, ISBN 978-1-4244-4597-4

Bertsch, F.A. and Hafner, V.V. (2009), Gesture recognition as a prerequisite of imitation learning in human-humanoid experiments, Proceedings of EpiRob09, Ninth International Conference on Epigenetic Robotics, pp. 197-198, Lund University Cognitive Studies, 146, Editors: Lola Canamero, Pierre-Yves Oudeyer, Christian Balkenius

2008
Hafner, V.V. and Bachmann, F. (2008), Human-Humanoid Walking Gait Recognition, Proceedings of Humanoids 2008, 8th IEEE-RAS International Conference on Humanoid Robots, pp. 598-602

Hafner, V.V. and Kaplan, F. (2008), Interpersonal Maps: How to Map Affordances for Interaction Behaviour, In: E. Rome et al. (Eds.): Affordance-Based Robot Control, LNAI 4760, pp. 1-15, Springer-Verlag Berlin Heidelberg

Hafner, V.V. (2008), Robots as Tools for Modelling Navigation Skills - A Neural Cognitive Map Approach, In: Jefferies, M.E., Yeap, W.K. (Eds.): Robotics and Cognitive Approaches to Spatial Mapping, Series: Springer Tracts in Advanced Robotics, Vol. 38, pp. 315-324, ISBN: 978-3-540-75386-5

2007
Oudeyer, P.-Y., Kaplan, F., Hafner, V.V. (2007), Intrinsic Motivation Systems for Autonomous Mental Development, IEEE Transactions on Evolutionary Computation, Special Issue on Autonomous Mental Development, Volume: 11, Issue: 2, pp. 265-286

2006
Kaplan, F. and Hafner, V.V. (2006), Information-theoretic framework for unsupervised activity classification, Advanced Robotics, 20:10, pp. 1087-1103

Kaplan, F. and Hafner, V.V. (2006), The Challenges of Joint Attention, Interaction Studies, 7:2, pp. 135-169

2005
Hafner, V.V. (2005), Cognitive Maps in Rats and Robots, Journal of Adaptive Behavior, special issue on "Towards Artificial Rodents", Vol. 13, No. 2, pp. 87-96, SAGE Publications

Hafner, V.V., Kaplan, F. (2005), Learning to interpret pointing gestures: experiments with four-legged autonomous robots, In: Biomimetic Neural Learning for Intelligent Robots. Intelligent Systems, Cognitive Robotics, and Neuroscience. Series: Lecture Notes in Computer Science. Subseries: Lecture Notes in Artificial Intelligence, Vol. 3575., pp. 225-234, Wermter, S., Palm, G., Elshaw, M. (Eds.) ISBN: 3-540-27440-5, Springer Verlag

2004
Hafner, V.V., Fend, M., König, P. and Körding, K. P. (2004), Predicting Properties of the Rat Somatosensory System by Sparse Coding, Neural Information Processing Letters and Reviews, Vol. 4, No. 1, pp. 11-18, ISBN 89-89453-04-6 93560

Hafner, V.V. (2004), Adaptive Navigation Strategies in Biorobotics: Visual Homing and Cognitive Mapping in Animals and Machines, PhD Thesis University of Zurich, Shaker Verlag, ISBN 3-8322-2857-8

Hafner, V.V. (2004), Agent-Environment Interaction in Visual Homing, In: Embodied Artificial Intelligence, LNAI series, Vol. 3139, Springer Verlag, ISBN: 3-540-22484-X, pp. 180-185

2001
Hafner, V.V. (2001), Adaptive Homing - Robotic Exploration Tours, Journal of Adaptive Behavior, Vol. 9, Number 4, pp. 131-141, SAGE Publications, ISSN 1059-7123