Selected Publications

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

2024

Yordanova, M., Hafner, V.V. (2025). Memory-Feedback Controllers for Lifelong Sensorimotor Learning in Humanoid Robots. In: Brock, O., Krichmar, J. (eds) From Animals to Animats 17. SAB 2024. Lecture Notes in Computer Science(), vol 14993. Springer, Cham. https://doi.org/10.1007/978-3-031-71533-4_21

Yun, H.S., Hübert, H., Pinkwart, N., Hafner, V.V. (2024). Design Based Research of Multimodal Robotic Learning Companions. In: Olney, A.M., Chounta, IA., Liu, Z., Santos, O.C., Bittencourt, I.I. (eds) Artificial Intelligence in Education. Posters and Late Breaking Results, Workshops and Tutorials, Industry and Innovation Tracks, Practitioners, Doctoral Consortium and Blue Sky. AIED 2024. Communications in Computer and Information Science, vol 2151. Springer, Cham. https://doi.org/10.1007/978-3-031-64312-5_12

Heinrich Mellmann, Polina Arbuzova, Dimosthenis Kontogiorgos, Magdalena Yordanova, Jen X. Haensel, Verena V. Hafner, Joanna J. Bryson (2024). Effects of Transparency in Humanoid Robots - A Pilot Study. HRI ’24 Companion, pp. 750–754, March 11–14, 2024, Boulder, CO, USA. https://doi.org/10.1145/3610978.3640613

Musiolek, L., Bierbach, D., Weimar, N., Hamon, M., Krause, J., Hafner, V.V. (2024). Evolving Artificial Neural Networks for Simulating Fish Social Interactions. In: Smith, S., Correia, J., Cintrano, C. (eds) Applications of Evolutionary Computation. EvoApplications 2024. Lecture Notes in Computer Science, vol 14634. Springer, Cham. https://doi.org/10.1007/978-3-031-56852-7_10

Anna L. Lange, Helene Leonie Ackermann, Verena Vanessa Hafner, Rebecca Lazarides (2024). The Effect of Adaptivity on Trust in a Robot Teacher. Late Breaking Results Poster Session at ICRA2024, Yokohama, Japan


2023

M. Kirtay, V. V. Hafner, M. Asada and E. Oztop, Interplay Between Neural Computational Energy and Multimodal Processing in Robot-Robot Interaction, 2023 IEEE International Conference on Development and Learning (ICDL), Macau, China, 2023, pp. 15-21, doi: 10.1109/ICDL55364.2023.10364527.

V. Taliaronak, A. L. Lange, M. Kirtay, E. Oztop and V. V. Hafner, "Advancing Humanoid Robots for Social Integration: Evaluating Trustworthiness Through a Social Cognitive Framework," 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Busan, Korea, Republic of, 2023, pp. 2112-2119, doi: 10.1109/RO-MAN57019.2023.10309519.

Doris Pischedda, Vanessa Kaufmann, Olga Wudarczyk, Rasha Abdel Rahman, Verena Vanessa Hafner, Anna Kuhlen, John-Dylan Haynes (2023). "Human or AI? The brain knows it! A brain-based Turing Test to discriminate between human and artificial agents.," 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), Busan, Korea, Republic of, 2023, pp. 951-958, doi: 10.1109/RO-MAN57019.2023.10309541.

Pico Villalpando, A., Kubisch, M., Colliaux, D., Hanappe, P., Hafner, V.V. (2023). Reinforcement learning with space carving for plant scanning. CVPPA Workshop (8th Workshop on Computer Vision in Plant Phenotyping and Agriculture). 2023 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW), pp. 694-701

Chevalère, J., Hae Seon Yun, Anja Henke, Niels Pinkwart, Verena V. Hafner, Rebecca Lazarides (2023). A sequence of learning processes in an intelligent tutoring system from topic-related appraisals to learning gains, Learning and Instruction, Volume 87, 2023, 101799, ISSN 0959-4752, https://doi.org/10.1016/j.learninstruc.2023.101799.

Yun, H.S., Hübert, H., Chevalère, J., Pinkwart, N., Hafner, V.V., Lazarides, R. (2023). Analyzing Learners’ Emotion from an HRI Experiment Using Facial Expression Recognition Systems. In: Zaphiris, P., Ioannou, A. (eds) Learning and Collaboration Technologies. HCII 2023. Lecture Notes in Computer Science, vol 14041. Springer, Cham. https://doi.org/10.1007/978-3-031-34550-0_29

Mellmann, H., Taliaronak, V., Hafner, V.V. (2023). Towards an Anticipatory Mechanism for Complex Decisions in a Bio-Hybrid Beehive. In: Schlingloff, BH., Vogel, T., Skowron, A. (eds) Concurrency, Specification and Programming. Studies in Computational Intelligence, vol 1091. Springer, Cham. https://doi.org/10.1007/978-3-031-26651-5_7

M. Kirtay, V. V. Hafner, M. Asada and E. Oztop (2023). Trust in robot-robot scaffolding, in IEEE Transactions on Cognitive and Developmental Systems, vol. 15, no. 4, pp. 1841-1852, Dec. 2023, doi: 10.1109/TCDS.2023.3235974.

Chevalère, J., Lazarides, R., Yun, H.S., Henke, A., Lazarides, C., Pinkwart, N., Hafner, V.V. (2023). Do instructional strategies considering activity emotions reduce students’ boredom in a computerized open-ended learning environment? Computers & Education, Volume 196, 2023, 104741, ISSN 0360-1315, https://doi.org/10.1016/j.compedu.2023.104741.

Yun, H.S., Hübert, H., Sardogan, A., Pinkwart, N., Hafner, V.V., Lazarides, R. (2023). Humanoid Robot as a Debate Partner. In: Stephanidis, C., Antona, M., Ntoa, S., Salvendy, G. (eds) HCI International 2023 Posters. HCII 2023. Communications in Computer and Information Science, vol 1836. Springer, Cham. https://doi.org/10.1007/978-3-031-36004-6_74

Chevalère, J., Kirtay, M., Hafner, V.V., Lazarides, R. (2023). Who to Observe and Imitate in Humans and Robots: The Importance of Motivational Factors. International Journal of Social Robotics 15, 1265–1275 (2023). https://doi.org/10.1007/s12369-022-00923-9


2022

M. Kirtay, V. V. Hafner, M. Asada, A. K. Kuhlen and E. Oztop (2022). Multimodal reinforcement learning for partner specific adaptation in robot-multi-robot interaction. 2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids), Ginowan, Japan, 2022, pp. 843-850, doi: 10.1109/Humanoids53995.2022.10000205.

M. Kirtay, E. Oztop, A. K. Kuhlen, M. Asada and V. V. Hafner (2022). Forming robot trust in heterogeneous agents during a multimodal interactive game. 2022 IEEE International Conference on Development and Learning (ICDL), pp. 307-313, doi: 10.1109/ICDL53763.2022.9962212.

M. Kirtay, E. Oztop, A. K. Kuhlen, M. Asada and V. V. Hafner (2022). Trustworthiness assessment in multimodal human-robot interaction based on cognitive load, 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), 2022, pp. 469-476, doi: 10.1109/RO-MAN53752.2022.9900730.

Ali Ayub, Marcus Scheunemann, Christoforos Mavrogiannis, Jimin Rhim, Kerstin Dautenhahn, Chrystopher L. Nehaniv, Verena V. Hafner, and Daniel Polani. 2022. Robot Curiosity in Human-Robot Interaction (RCHRI). In Proceedings of the 2022 ACM/IEEE International Conference on Human-Robot Interaction (HRI '22). IEEE Press, 1231–1233.

Yun, H. S., Taliaronak, V., Kirtay, M., Chevelère, J., Hübert, H., Hafner, V. V., Pinkwart, N., & Lazarides, R. (2022). Challenges in Designing Teacher Robots with Motivation Based Gestures. Proceedings of the RCHRI Workshop at the 17th Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI 2022) and https://arxiv.org/pdf/2302.03942

Kubisch, M. and Berthold, O. (2022). flatcat -- playful robots that respond to touch. Proceedings of the RCHRI Workshop at the 17th Annual ACM/IEEE International Conference on Human-Robot Interaction (HRI 2022).

Hae Seon Yun, Heiko Hübert, Volha Taliaronak, Ralf Mayet, Murat Kirtay, Verena V. Hafner & Niels Pinkwart (2022). AI-Based Open-Source Gesture Retargeting to a Humanoid Teaching Robot. In: Rodrigo, M.M., Matsuda, N., Cristea, A.I., Dimitrova, V. (eds) Artificial Intelligence in Education. Posters and Late Breaking Results, Workshops and Tutorials, Industry and Innovation Tracks, Practitioners’ and Doctoral Consortium. AIED 2022. Lecture Notes in Computer Science, vol 13356. Springer, Cham. https://doi.org/10.1007/978-3-031-11647-6_51

Hafner V, Hommel B, Kayhan E, Lee D, Paulus M and Verschoor S (2022). Editorial: The Mechanisms Underlying the Human Minimal Self. Front. Psychol. 13:961480. doi: 10.3389/fpsyg.2022.961480

David Bierbach, …, Lea Musiolek, Verena V. Hafner, … et al. 2022. Live fish learn to anticipate the movement of a fish-like robot. Bioinspiration & Biomimetics 17:6 https://doi.org/10.1088/1748-3190/ac8e3e

Anna L. Lange, Murat Kirtay, Verena V. Hafner (2022). Multimodal cognitive load as an indication of robot trust in robot-robot interaction. In Workshop Robot Trust for Symbiotic Societies (RTSS) at IROS 2022, Kyoto, Japan.


2021

Schillaci, G., Pico Villalpando, A., Hafner, V. V., Hanappe, P., Colliaux, D., & Wintz, T. (2021). Intrinsic motivation and episodic memories for robot exploration of high-dimensional sensory spaces. Adaptive Behavior 2021, Vol. 29(6), pp. 549–566. https://journals.sagepub.com/doi/full/10.1177/1059712320922916

Wudarczyk, O.A., Kirtay, M., Pischedda, D., Hafner, V.V., Haynes, J.-D., Kuhlen, A.K., Abdel Rahman, R. (2021). Robots facilitate human language production. Scientific Reports volume 11, Article number: 16737 (2021). https://doi.org/10.1038/s41598-021-95645-9

Pischedda, D., Lange, A., Kirtay, M., Wudarczyk, O. A., Abdel Rahman, R., Hafner, V. V., Kuhlen, A. K., & Haynes, J.-D. (2021). Am I speaking to a human, a robot, or a computer? Neural representations of task partners in communicative interactions with humans or artificial agents. Abstract at Neuroscience 2021: Session P808.06.

Pischedda, D., Lange, A., Kirtay, M., Wudarczyk, O. A., Abdel Rahman, R., Hafner, V. V., Kuhlen, A. K., & Haynes, J.-D. (2021). Who is my interlocutor? Partner-specific neural representations during communicative interactions with human or artificial task partners. Abstract at the 5th Virtual Social Interactions (VSI) Conference.

Kirtay, M., Chevalère, J., Lazarides, R. and Hafner, V.V. (2021). Learning in Social Interaction: Perspectives from Psychology and Robotics, 2021 IEEE International Conference on Development and Learning (ICDL), 2021, pp. 1-8, doi: 10.1109/ICDL49984.2021.9515648.

Kirtay, M., Oztop, E., Asada, M. and Hafner, V.V. (2021). Modeling robot trust based on emergent emotion in an interactive task, 2021 IEEE International Conference on Development and Learning (ICDL), 2021, pp. 1-8, doi: 10.1109/ICDL49984.2021.9515645.

Tim Julian Möller, Yasmin Kim Georgie, Guido Schillaci, Martin Voss, Verena Vanessa Hafner, Laura Kaltwasser (2021). Computational models of the “active self” and its disturbances in schizophrenia, Consciousness and Cognition, Volume 93, 2021, 103155, ISSN 1053-8100, https://doi.org/10.1016/j.concog.2021.103155.

Kirtay, M., Oztop, E., Asada, M. and Hafner, V.V. (2021). Trust me! I am a robot: an affective computational account of scaffolding in robot-robot interaction, 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), 2021, pp. 189-196, doi: 10.1109/RO-MAN50785.2021.9515494.

Asya Ilgün, Kostadin Angelov, Martin Stefanec, Sarah Schönwetter-Fuchs, Valerin Stokanic, Jutta Vollmann, Daniel N. Hofstadler, Martin H. Kärcher, Heinrich Mellmann, Volha Taliaronak, Armands Kviesis, Vitalijs Komasilovs, Matthias A. Becher, Martina Szopek, David M. Dormagen, Rafael Barmak, Erol Bairaktarov, Matthieu Broisin, Ronald Thenius, Rob Mills, Stamatios C. Nicolis, Alexandre Campo, Aleksejs Zacepins, Sergey Petrov, Jean-Louis Deneubourg, Francesco Mondada, Tim Landgraf, Verena V. Hafner, Thomas Schmickl; July 19–23, 2021. Bio-Hybrid Systems for Ecosystem Level Effects. Proceedings of the ALIFE 2021: The 2021 Conference on Artificial Life. ALIFE 2021: The 2021 Conference on Artificial Life. Online. (pp. 41). ASME. MIT Press. https://doi.org/10.1162/isal_a_00396

Puzynin, E., Mellmann, H. and Hafner, V.V. (2021). A Novel Mobile App for the Next Generation of Beekeepers. 29th International Workshop on Concurrency, Specification and Programming (CS&P'21). Berlin, Germany. CEUR Workshop Proceedings, ISSN 1613-0073. Vol. 2951, pp. 113-116. http://ceur-ws.org/Vol-2951/

Taliaronak, V., Mellmann, H., Hafner, V.V. (2021). Simulation of Interactions between Beehives. 29th International Workshop on Concurrency, Specification and Programming (CS&P'21). Berlin, Germany. CEUR Workshop Proceedings, ISSN 1613-0073. Vol. 2951, pp. 106-112. http://ceur-ws.org/Vol-2951/

David Bierbach, Fritz Francisco, Juliane Lukas, Tim Landgraf, Moritz Maxeiner, Pawel Romanczuk, Lea Musiolek, Verena V. Hafner, Jens Krause; July 19–23, 2021. Biomimetic robots promote the 3Rs Principle in animal testing. Proceedings of the ALIFE 2021: The 2021 Conference on Artificial Life. ALIFE 2021: The 2021 Conference on Artificial Life. Online. (pp. 36). ASME. MIT Press. https://doi.org/10.1162/isal_a_00375

Ciria, A., Schillaci, G., Pezzulo, G., Hafner, V.V. & Lara, B. (2021). Predictive Processing in Cognitive Robotics: a Review. Neural Computation (2021) 33 (5): 1402–1432.

Landgraf, T., Gebhardt, G.H.W., Bierbach, D., Romanczuk, P., Musiolek, L., Hafner, V.V., Krause, J. (2021). Animal-in-the-Loop: Using Interactive Robotic Conspecifics to Study Social Behavior in Animal Groups. Annual Review of Control, Robotics, and Autonomous Systems 2021 4:1. DOI 10.1146/annurev-control-061920-103228. Posted with permission from the Annual Review of Control, Robotics, and Autonomous Systems 2021, Volume 4:1, copyright 2021 Annual Reviews, http://www.annualreviews.org

Nguyen, P.D.H., Georgie, Y.K., Kayhan, E., Eppe, M., Hafner, V.V. and Wermter, S. (2021). Sensorimotor representation learning for an “active self” in robots: A model survey. KI - Künstliche Intelligenz. German Journal of Artificial Intelligence. Special Issue: Developmental Robotics. 01/2021. Springer. DOI 10.1007/s13218-021-00703-z

Eppe, M., Hafner, V.V., Nagai, Y., Wermter, S. (Eds.) (2021). Editorial. Special Issue on Developmental Robotics. KI - Künstliche Intelligenz. Vol. 35, Issue 1. German Journal of Artificial Intelligence. Springer.

Wudarczyk O.A., Kirtay M., Kuhlen A.K., Abdel Rahman R., Haynes J.-D., Hafner V.V. and Pischedda D. (2021). Bringing Together Robotics, Neuroscience, and Psychology: Lessons Learned From an Interdisciplinary Project. Front. Hum. Neurosci. 15:630789. doi: 10.3389/fnhum.2021.630789

2020
Kirtay, M., Wudarczyk, O., Pischedda, D., Kuhlen, A., Abdel Rahman, R., Haynes, J. -D., & Hafner, V.V. (2020). Modeling robot co-representation: state-of-the-art, open issues, and predictive learning as a possible framework. 2020 Joint IEEE 10th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), Valparaiso, Chile, 2020, pp. 1-8, DOI 10.1109/ICDL-EpiRob48136.2020.9278031

Musiolek, L., Hafner, V.V., Krause, J., Landgraf, T., Bierbach, D. (2020). Robofish as Social Partner for Live Guppies. In: Vouloutsi V., Mura A., Tauber F., Speck T., Prescott T.J., Verschure P.F.M.J. (eds) Biomimetic and Biohybrid Systems. Living Machines 2020. Lecture Notes in Computer Science, vol 12413. Springer, Cham. https://doi.org/10.1007/978-3-030-64313-3_26

Wudarczyk, O., Kuhlen A., Kirtay, M., Pischedda, D., Hafner, V.V., Haynes, J. -D., and Abdel Rahman, R. (2020). The effects of having a robot as a task partner on lexical retrieval. The 26th Architectures and Mechanisms for Language Processing Conference (AMLaP 2020), Potsdam, Germany.

Drix, D., Hafner, V.V., Schmuker, M. (2020). Sparse coding with a somato-dendritic rule. Neural Networks 131. pp 37-49. https://doi.org/10.1016/j.neunet.2020.06.007

Mellmann, H., Schlotter, B., Musiolek, L. and Hafner, V.V. (2020). Anticipation as a Mechanism for Complex Behavior in Artificial Agents. ALIFE2020, The 2020 Conference on Artificial Life, pp.157-159, MIT Press. https://doi.org/10.1162/isal_a_00314

Evers, C., Mellmann, H. et al. (2020). The LOCATA Challenge: Acoustic Source Localization and Tracking. IEEE/ACM Transactions on Audio, Speech, and Language Processing, vol. 28, pp. 1620-1643, 2020, doi: 10.1109/TASLP.2020.2990485.

Hafner, V.V., Loviken, P., Pico Villalpando, A., Schillaci, G. (2020). Prerequisites for an Artificial Self. Frontiers in Neurorobotics 14:5. doi:10.3389/fnbot.2020.00005. ISSN 1662-5218.

Schillaci, G., Pico Villalpando, A., Hafner, V. V., Hanappe, P., Colliaux, D., & Wintz, T. (2020). Intrinsic motivation and episodic memories for robot exploration of high-dimensional sensory spaces. Adaptive Behavior (preprint). https://doi.org/10.1177/1059712320922916 and arXiv:2001.01982 [cs.AI]

2019
Pico, A., Schillaci, G., Hafner, V.V. and Lara, B. (2019). Ego-Noise Predictions for Echolocation in Wheeled Robots, Alife 2019 - The 2019 Conference on Artificial Life. pp.567-573. MIT Press

Laflaquière, A. and Hafner, V.V. (2019), Unsupervised Body Image Acquisition Using a Deep Neural Network for Sensorimotor Prediction, 2019 Joint IEEE 9th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob). Oslo, Norway, pp. 117-122. DOI 10.1109/DEVLRN.2019.8850717

Georgie, Y.K., Schillaci, G. and Hafner, V.V. (2019). An interdisciplinary overview of developmental indices and behavioral measures of the minimal self, 2019 Joint IEEE 9th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob). Oslo, Norway, pp. 129-136. DOI 10.1109/DEVLRN.2019.8850703

2018
Acevedo Valle, J.M., Hafner, V.V., and Angulo, C. (2018). Social Reinforcement in Artificial Prelinguistic Development: A Study Using Intrinsically Motivated Exploration Architectures, IEEE Transactions on Cognitive and Developmental Systems, Volume: 12, Issue: 2, June 2020, DOI: 10.1109/TCDS.2018.2883249

Drix D., Hafner V.V., Schmuker M. (2018). Sparse Coding with a Somato-Dendritic Rule. Bernstein Conference 2018. doi: 10.12751/nncn.bc2018.0109

Lang, C., Schillaci, G. and Hafner, V.V. (2018), A Deep Convolutional Neural Network Model for Sense of Agency and Object Permanence in Robots, Proceedings of the 8th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), pp. 260-265. DOI 10.1109/DEVLRN.2018.8761015

Pico, A., Schillaci, G. and Hafner, V.V. (2018), Predictive Models for Robot Ego-Noise Learning and Imitation, Proceedings of the 8th Joint IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), pp. 266-271. DOI 10.1109/DEVLRN.2018.8761017

Blum, C., Winfield, A.F.T. and Hafner, V.V. (2018). Simulation-based internal models for safer robots. Frontiers in Robotics and AI, 4(74):1-17

Winfield, A.F.T. and Hafner, V.V. (2018). Anticipation in robotics. In R. Poli (editor), Handbook of Anticipation: Theoretical and Applied Aspects of the Use of Future in Decision Making, pp. 1-30. Springer International Publishing.


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

Schillaci, G., Schillaci, F., and Hafner, V.V. (2017). A Customisable Underwater Robot. arXiv preprint arXiv:1707.06564.

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). DOI 10.1109/DEVLRN.2017.8329791

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). DOI 10.1109/DEVLRN.2017.8329824

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). DOI 10.1109/DEVLRN.2017.8329815

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 2017 IEEE 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. DOI 10.1109/DEVLRN.2016.7846826

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. DOI 10.1109/DEVLRN.2016.7846813

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. DOI 10.1109/DEVLRN.2016.7846812

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. DOI 10.1109/DEVLRN.2015.7346136. 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