And now, what's going to happen to us without barbarians?
They were, those people, a kind of solution.
[C. Cavafy, "Waiting for the Barbarians"]

Dimitrios Kanoulas, Ph.D.
Professor in Robotics and AI
UKRI Future Leaders Fellow


University College London (UCL)
Department of Computer Science
Gower Street, London, WC1E 6BT, UK

http://dkanou.github.io


e-mail: echo "name@ucl.ac.uk" | sed 's!name!d.kanoulas!'

Publications

[DBLP, Google Scholar, ResearchGate, Academia, Linkedin]

Book Chapters:
  1. "Editorial: Rising stars in field robotics: 2022",
    Dimitrios Kanoulas, Shehryar Khattak, and Giuseppe Loianno
    In the Frontiers in Robotics and AI (Frontiers 2024)
    [.pdf] [official link]

  2. "Editorial: Towards Real-World Deployment of Legged Robots",
    Navinda Kottege, Dimitrios Kanoulas, and Luis Sentis
    In the Frontiers in Robotics and AI (Frontiers 2021)
    [.pdf] [official link]

  3. "WALK-MAN Humanoid Platform",
    Nikos G. Tsagarakis et al.
    In the Springer The DARPA Robotics Challenge Finals: Humanoid Robots To The Rescue, 2018.
    (Springer Tracts in Advanced Robotics, vol 121. Springer, Cham)
    [.pdf] [official link]

  4. "Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction",
    with Peter Kaiser, Eren E. Aksoy, Markus Grotz, Dimitrios Kanoulas, Nikos G. Tsagarakis, and Tamim Asfour.
    In the Springer 2016 International Symposium on Experimental Robotics (ISER), 2017.
    (Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham)
    [.pdf] [official link]

Journals:
  1. "Sensorimotor Learning with Stability Guarantees via Autonomous Neural Dynamic Policies ",
    Dionis Totsila, Konstantinos Chatzilygeroudis, Valerio Modugno, Denis Hadjivelichkov, Dimitrios Kanoulas
    In IEEE Robotics and Automation Letters, R-AL 2024.
    [.pdf] [official link]

  2. "Advancing Teleoperation for Legged Manipulation with Wearable Motion Capture",
    Chengxu Zhou, Christopher Peers, Yuhui Wan, Andromachi Maria Delfaki, Dimitrios Kanoulas
    In Frontiers in Robotics and AI, Frontiers 2024.
    [.pdf] [official link]

  3. "Reinforcement Learning Grasping With Force Feedback From Modeling of Compliant Fingers",
    Luke Beddow, Helge Wurdemann, Dimitrios Kanoulas
    In IEEE/ASME Transactions on Mechatronics, T-Mech 2024.
    [.pdf] [official link]

  4. "Real-Time Metric-Semantic Mapping for Autonomous Navigation in Outdoor Environments",
    Jianhao Jiao, Ruoyu Geng, Yuanhang Li , Ren Xin, Bowen Yang, Jin Wu, Lujia Wang, Ming Liu, Rui Fan, Dimitrios Kanoulas
    In IEEE Transactions on Automation Science and Engineering, T-ASE 2024.
    [.pdf] [official link]

  5. "Active Sensing for Data Quality Improvement in Model Learning",
    Olga Napolitano, Marco Cognetti, Lucia Pallottino, Paolo Salaris, Dimitrios Kanoulas, Valerio Modugno
    In IEEE Control Systems Letters, L-CSS 2024.
    [.pdf] [official link]

  6. "Taking the First Step Toward Autonomous Quadruped Robots: The Quadruped Robot Challenge at ICRA 2023 in London",
    Adam Jacoff, Jeongmin Jeon, Oliver Huke, Dimitrios Kanoulas, Seehoon Ha, Donghyun Kim, and Hyungpil Moon
    In IEEE Robotics & Automation Magazine, RAM 2023.
    [.pdf] [official link]

  7. "Performance and Usability Evaluation Scheme for Mobile Manipulator Teleoperation",
    Yuhui Wan, Jingcheng Sun, Christopher Peers, Humphreys, Joseph Humphreys Dimitrios Kanoulas, and Chengxu Zhou
    In IEEE Transactions on Human-Machine Systems, T-HMS 2023.
    [.pdf] [official link]

  8. "A Survey on Control of Humanoid Fall Over",
    Rajesh Subburaman, Dimitrios Kanoulas, Nikos Tsagarakis, and Jinoh Lee
    In Robotics and Autonomous Systems, RAS 2023.
    [.pdf] [official link]

  9. "Learning Needle Pick-And-Place without Expert Demonstrations",
    Rokas Bendikas, Valerio Modugno, Dimitrios Kanoulas, Francisco Vasconcelos, and Danail Stoyanov
    In IEEE Robotics and Automation Letters, RA-L 2023 (ICRA 2024).
    [.pdf] [official link]

  10. "Body Extension by Using Two Mobile Manipulators",
    Yusuke Hirao, Weiwei Wan, Dimitrios Kanoulas, and Kensuke Harada.
    SPG Cyborg and Bionic Systems, CBSystems 2023.
    [.pdf] [official link]

  11. "Navigation Among Movable Obstacles via Multi-Object Pushing into Storage Zones",
    Kirsty Ellis, Denis Hadjivelichkov, Valerio Modugno, Danail Stoyanov, and Dimitrios Kanoulas.
    IEEE, Access 2023.
    [.pdf] [official link]

  12. "TeLeMan: Teleoperation for Legged Robot Loco-Manipulation using Wearable IMU-based Motion Capture",
    Chengxu Zhou, Christopher Peers, Yuhui Wan, Robert Richardson, and Dimitrios Kanoulas.
    In arXiv 2022.
    [.pdf] [official link]

  13. "Behavior Policy Learning: Learning Long-Horizon Tasks via Solution Sketches and Model-Based Controllers",
    Konstantinos Tsinganos, Konstantinos Chatzilygeroudis, Denis Hadjivelichkov, Theodoros Komninos, Evangelos Dermatas, and Dimitrios Kanoulas.
    In the Journal of Frontiers in Robotics and AI, Frontiers 2022.
    [.pdf] [official link]

  14. "Reconfigurable and Agile Legged-Wheeled Robot Navigation in Cluttered Environments with Movable Obstacles",
    Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    IEEE, Access 2021.
    [.pdf] [official link]

  15. "A Method for Autonomous Robotic Manipulation through Exploratory Interactions with Uncertain Environments",
    Pietro Balatti, Dimitrios Kanoulas, Nikos G. Tsagarakis, Arash Ajoudani
    Elsevier Autonomous Robots, AURO 2020.
    [.pdf] [official link]

  16. "Human Inspired Fall Prediction Method for Humanoid Robots",
    Rajesh Subburaman, Dimitrios Kanoulas, Luca Muratore, Nikos Tsagarakis, Jinoh Lee
    Elsevier Robotics and Autonomous Systems, RAS 2019.
    [.pdf] [official link]

  17. "Cache me if you can: Capacitated Selfish Replication in Networks",
    Ragavendran Gopalakrishnan, Dimitrios Kanoulas, Naga Naresh Karuturi, C. Pandu Rangan, Rajmohan Rajaraman, and Ravi Sundaram.
    Elsevier Theory of Computing Systems, TOCS 2019.
    [.pdf] [official link (read-only)] [official link]

  18. "Curved Patch Mapping and Tracking for Irregular Terrain Modeling: Application to Bipedal Robot Foot Placement",
    Dimitrios Kanoulas, Nikos Tsagarakis and Marsette Vona
    Elsevier Robotics and Autonomous Systems, RAS 2019.
    [.pdf] [official link]

  19. "Humanoids at Work: New Breakthroughs in Robotic Design",
    Nikos G. Tsagarakis, et al.
    Front-page in the IEEE Robotics and Automation Society, RAM 2018.
    [.pdf] [official link]

  20. "Center-of-Mass-Based Grasp Pose Adaptation Using 3D Range and Force/Torque Sensing",
    Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the World Scientific International Journal of Humanoid Robotics, IJHR 2018.
    [.pdf] [.arXiv] [video] [official link]

  21. "Humanoids at Work: The WALK-MAN Robot in a Postearthquake Scenario",
    Francesca Negrello, Alessandro Settimi, Danilo Caporale, Gianluca Lentini, Mattia Poggiani, Dimitrios Kanoulas, Luca Muratore, Emanuele Luberto, Gaspare Santaera, Luca Ciarleglio, Lucia Pallottino, Darwin G. Caldwell, Nikos Tsagarakis, Antonio Bicchi, Manolo Garabini, Manuel Giuseppe Catalano.
    In the IEEE Robotics and Automation Society, RAM 2018.
    [.pdf] [.pdf2] [video] [official link]

  22. "Visual Grasp Affordance Localization in Point Clouds using Curved Contact Patches",
    Dimitrios Kanoulas, Jinoh Lee, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the World Scientific International Journal of Humanoid Robotics, IJHR 2017.
    [.pdf] [video] [official link]

  23. "WALK-MAN: A High Performance Humanoid Platform for Realistic Environments",
    Nikos G. Tsagarakis, Darwin G. Caldwell, F. Negrello, W. Choi, L. Baccelliere, VG. Loc, J. Noorden, L. Muratore, A. Margan, A. Cardellino, L. Natale, E. Mingo Hoffman, H. Dallali, N. Kashiri, J. Malzahn, J. Lee, P. Kryczka, D. Kanoulas, M. Garabini, M. Catalano, M. Ferrati, V. Varricchio, L. Pallottino, C. Pavan, A. Bicchi, A. Settimi, A. Rocchi, A. Ajoudani.
    In the Journal of Field Robotics, JFR 2017.
    [.pdf] [video] [official link]

  24. "The Walk-Man Robot Software Architecture",
    Mirko Ferrati, Alessandro Settimi, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Alberto Cardellino, Corrado Pavan, Dimitrios Kanoulas, Nikos G. Tsagarakis, Lorenzo Natale, and Lucia Pallottino.
    In the Journal of Frontiers in Robotics and AI, Frontiers 2016.
    [.pdf] [official link]

Conferences:
  1. "LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation",
    Jianhao Jiao, Jinhao He, Changkun Liu, Sebastian Aegidius, Xiangcheng Hu, Tristan Braud, Dimitrios Kanoulas
    In arXiv.
    [.pdf]

  2. "LoGS: Visual Localization via Gaussian Splatting with Fewer Training Images",
    Yuzhou Cheng, Jianhao Jiao, Yue Wang, Dimitrios Kanoulas
    In arXiv.
    [.pdf]

  3. "SDS - See it, Do it, Sorted: Quadruped Skill Synthesis from Single Video Demonstration",
    Jeffrey Li, Maria Stamatopoulou, and Dimitrios Kanoulas Dimitrios Kanoulas
    In arXiv.
    [.pdf]

  4. "Analysing the Generalisation and Reliability of Steering Vectors",
    Daniel Chee Hian Tan, David Chanin, Aengus Lynch, Brooks Paige, Dimitrios Kanoulas, Adrià Garriga-Alonso, Robert Kirk.
    In the Thirty-eighth Annual Conference on Neural Information Processing Systems, NeurIPS 2024.
    [.pdf] [Acceptance Rate: 25.8%]

  5. "ASFM: Augmented Social Force Model for Legged Robot Social Navigation",
    Sebastian Aegidius, Rodrigo C. Quesada, Andromachi Maria Delfaki, Dimitrios Kanoulas, and Yiannis Demiris.
    In the 24the IEEE-RAS International Conference on Humanoids Robots, Humanoids 2024.
    [.pdf] [Acceptance Rate: 51%]

  6. "Balancing Calibration and Performance: Stochastic Depth in Segmentation BNNs",
    Linghong Yao, Denis Hadjivelichkov, Andromachi Maria Delfaki, Yuanchang Liu, Brooks Paige, Dimitrios Kanoulas
    In the 35th British Machine Vision Conference, BMVC 2024.
    [.pdf] [Acceptance Rate: 25,8%]

  7. "DiPPeST: Diffusion-based Path Planner for Synergistic Trajectory Generation Applied on Quadrupedal Robots",
    Maria Stamatopoulou, Jianwei Liu, Dimitrios Kanoulas
    In the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024.
    [.pdf] [video] [presentation] [official link] [Acceptance Rate: 47,5%]

  8. "Local Navigation Among Movable Obstacles with Deep Reinforcement Learning",
    Linghong Yao, Valerio Modugno, Andromachi Maria Delfaki, Yuanchang Liu, Danail Stoyanov, Dimitrios Kanoulas.
    In the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024.
    [.pdf] [video] [presentation] [official link] [Acceptance Rate: 47,5%]

  9. "Evaluating a Movable Palm in Caging Inspired Grasping Using a Reinforcement Learning-Based Approach",
    Luke Beddow, Helge Wurdemann, Dimitrios Kanoulas.
    In the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024.
    [.pdf] [video] [presentation] [official link] [Acceptance Rate: 47,5%]

  10. "On the Benefits of GPU Sampling-Based Controllers for Legged Locomotion",
    Giulio Turrisi, Valerio Modugno, Lorenzo Amatucci, Dimitrios Kanoulas, Claudio Semini.
    In the 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2024.
    [.pdf] [Acceptance Rate: 47,5%]

  11. "Learning Bipedal Walking on a Quadruped Robot via Adversarial Motion Priors",
    Tianhu Peng, Lingfan Bao, Joseph Humphreys, Andromachi Maria Delfaki, Dimitrios Kanoulas, and Chengxu Zhou.
    In the 2024 Towards Autonomous Robotic Systems, TAROS 2024.
    [.pdf]

  12. "Safe Value Functions: Learned Critics as Hard Safety Constraints",
    Daniel Chee Hian Tan, Fernando Acero, Robert McCarthy, Andromachi Maria Delfaki, Zhibin Li, and Dimitrios Kanoulas.
    In the 2024 IEEE 20th International Conference on Automation Science and Engineering, CASE 2024.
    [.pdf]

  13. "Transformer-Based Prediction of Human Motions and Contact Forces for Physical Human-Robot Interaction",
    Alessia Fusco, Valerio Modugno, Dimitrios Kanoulas, Alessandro Rizzo, Marco Cognetti.
    In the 2024 IEEE International Conference on Robotics and Automation, ICRA 2024.
    [.pdf]

  14. "DiPPeR: Diffusion-based 2D Path Planner applied on Legged Robots",
    Jianwei Liu, Maria Stamatopoulou, Dimitrios Kanoulas.
    In the 2024 IEEE International Conference on Robotics and Automation, ICRA 2024.
    [.pdf] [arXiv]

  15. "Reinforcement Learning-based Grasping via One-Shot Affordance Localization and Zero-Shot Contrastive Language–Image Learning",
    Xiang Long, Luke Beddow, Denis Hadjivelichkov, Andromachi Maria Delfaki, Dimitrios Kanoulas.
    In the 16th IEEE/SICE International Symposium on System Integration, SII 2024.
    [.pdf] [official link] [Acceptance Rate: %]

  16. "ViT-A*: Legged Robot Path Planning using Vision Transformer A*",
    Jianwei Liu, Shirui Lyu, Denis Hadjivelichkov, Valerio Modugno, Dimitrios Kanoulas.
    IEEE International Conference on Automation Science and Engineering, Humanoids 2023.
    [.pdf] [arXiv] [official link] [Acceptance Rate: 63%]

  17. "Safe Trajectory Sampling in Model-based Reinforcement Learning",
    Sicelukwanda Zwane, Denis Hadjivelichkov, Yicheng Luo, Yasemin Bekiroglu, Dimitrios Kanoulas, and Marc Peter Deisenroth .
    IEEE International Conference on Automation Science and Engineering, CASE 2023.
    [.pdf] [official link] [Acceptance Rate: %]

  18. "Sensorimotor Learning with Stability Guarantees via Autonomous Neural Dynamic Policies",
    Dionisis Totsila, Konstantinos Chatzilygeroudis, Denis Hadjivelichkov, Valerio Modugno, Dimitrios Kanoulas, and Ioannis Hatzilygeroudis .
    In the Embodied Intelligence 2023, EI 2023.
    [.pdf] [official link] [Acceptance Rate: %]

  19. "One-Shot Transfer of Affordance Regions? AffCorrs!",
    Denis Hadjivelichkov, Sicelukwanda Zwane, Marc Peter Deisenroth, Lourdes Agapito, Dimitrios Kanoulas.
    In the 6th Annual Conference on Robot Learning, CoRL 2022.
    [.pdf] [official link] [video] [page] [Acceptance Rate: 39%]

  20. "Dynamic Camera Usage in Mobile Teleoperation System for Buzz Wire Task",
    Christopher Peers, Dimitrios Kanoulas, Bilal Kaddouh, Robert Richardson and Chengxu Zhou.
    In the the 5th UK Robotics and Autonomous Systems Conference (UKRAS22), UKRAS22.
    [.pdf]

  21. "Analysis of VR Usability in Mobile Manipulator Teleoperation",
    Yuhui Wan, Christopher Peers, Dimitrios Kanoulas, and Chengxu Zhou.
    In the the 5th UK Robotics and Autonomous Systems Conference (UKRAS22), UKRAS22.
    [.pdf]

  22. "Navigation Among Movable Obstacles with Object Localization using Photorealistic Simulation",
    Kirsty Ellis, Henry Zhang, Danail Stoyanov, Dimitrios Kanoulas.
    In the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022.
    [.pdf] [video] [official link] [Acceptance Rate: 48.00%]

  23. "Autonomous Mobile 3D Printing of Large-Scale Trajectories",
    Julius Sustarevas, Dimitrios Kanoulas, Simon Julier.
    In the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022.
    [.pdf] [video1, video2, video3] [official link] [Acceptance Rate: 48.00%]

  24. "Robust Contact State Estimation in Humanoid Walking Gaits",
    Stylianos Piperakis, Michael Maravgakis, Dimitrios Kanoulas, Panos Trahanias.
    In the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2022.
    [.pdf] [video] [official link] [Acceptance Rate: 48.00%]

  25. "You Can even Annotate Text with Voice: Transcription-only-Supervised Text Spotting",
    Jingqun Tang, Su Qiao, Benlei Cui, Yuhang Ma, Sheng Zhang, Dimitrios Kanoulas.
    In the 2022 ACM Multimedia, ACMMM 2022.
    Oral Presentation
    [.pdf] [official link] [Acceptance Rate: 27.90%]

  26. "Fully Self-Supervised Class Awareness in Dense Object Descriptors",
    Denis Hadjivelichkov, Dimitrios Kanoulas.
    In the 5th Annual Conference on Robot Learning, CoRL 2021.
    [.pdf] [video] [page] [official link] [Acceptance Rate: 38.25%]

  27. "Task-Consistent Path Planning for Mobile 3D Printing",
    Julius Sustarevas, Dimitrios Kanoulas, Simon Julier.
    In the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021.
    [.pdf] [video] [official link] [Acceptance Rate: 45%]

  28. "A Caging Inspired Gripper using Flexible Fingers and a Movable Palm",
    Luke Beddow, Helge Wurdemann, and Dimitrios Kanoulas.
    In the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021.
    [.pdf] [video] [official link] [Acceptance Rate: 45%]

  29. "ShorelineNet: An Efficient Deep Learning Approach for Shoreline Semantic Segmentation for Unmanned Surface Vehicles",
    Linghong Yao, Dimitrios Kanoulas, Ze Ji, Yuanchang Liu.
    In the 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021.
    [.pdf] [video] [official link] [Acceptance Rate: 45%]

  30. "Autonomous Real Time Architecture for High Performance Mobile Robots",
    Antonios Emmanouil Gkikakis, Dimitrios Kanoulas, and Roy Featherstone.
    In the 17th IEEE International Conference on Automation Science and Engineering, CASE 2021.
    [.pdf] [official link] [Acceptance Rate: %]

  31. "Garbage Collection and Sorting with a Mobile Manipulatorusing Deep Learning and Whole-Body Control",
    Jingyi Liu, Pietro Balatti, Kirsty Ellis, Denis Hadjivelichkov, Danail Stoyanov, Arash Ajoudani, and Dimitrios Kanoulas.
    In the 20th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2020.
    [.pdf] [video] [official link] [Acceptance Rate: 56%]

  32. "Agile Legged-Wheeled Reconfigurable Navigation Planner applied on the CENTAURO Robot",
    Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the 2020 IEEE International Conference on Robotics and Automation, ICRA 2020.
    [.pdf] [video] [pitch video] [official link] [Acceptance Rate: 42%]

  33. "Terrain Segmentation and Roughness Estimation using RGB Data: Path Planning Application on the CENTAURO Robot",
    Vivekanandan Suryamurthy, Vignesh Sushrutha Raghavan, Arturo Laurenzi, Nikos G. Tsagarakis, and Dimitrios Kanoulas.
    In the 19th IEEE/RAS International Conference on Humanoid Robots, Humanoids 2019.
    [.pdf] [site] [video] [official link] [Acceptance Rate: 50%]

  34. "RPBP: Rapid-Prototyped Remote-Brain BiPed with 3D Perception",
    Marsette Vona and Dimitrios Kanoulas
    In IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2019.
    [.pdf] [official link] [Acceptance Rate: 52%]

  35. "Variable Configuration Planner for Legged-Rolling Obstacle Negotiation Locomotion: Application on the CENTAURO Robot",
    Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Arturo Laurenzi, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019.
    [.pdf] [video] [official link] [Acceptance Rate: 45%]

  36. "Outlier-Robust State Estimation for Humanoid Robots",
    Stylianos Piperakis, Dimitrios Kanoulas, Nikos G. Tsagarakis, and Panos Trahanias.
    In the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019.
    [.pdf] [video] [official link] [Acceptance Rate: 45%]

  37. "Towards Robot Interaction Autonomy: Explore, Identify, and Interact",
    Pietro Balatti, Dimitrios Kanoulas, Nikos G. Tsagarakis, Arash Ajoudani.
    In the 2019 IEEE International Conference on Robotics and Automation, ICRA 2019.
    [.pdf] [video] [official link] [Acceptance Rate: 44%]

  38. "Whole-Body Stabilization for Visual-based Box Lifting with the COMAN+ Robot",
    Arturo Laurenzi, Dimitrios Kanoulas, Enrico Mingo Hoffman, Luca Muratore, Nikos G. Tsagarakis.
    *all first four authors contributed equally to this work
    In the 3rd IEEE International Conference on Robotic Computing, IRC 2019.
    [.pdf] [video] [official link] [Acceptance Rate: 27.78%]

  39. "rxKinFu: Moving Volume KinectFusion for 3D Perception and Robotics",
    Dimitrios Kanoulas, Nikos G. Tsagarakis, and Marsette Vona.
    In the 18th IEEE/RAS International Conference on Humanoid Robots, Humanoids 2018.
    [.pdf] [code] [video] [official link] [Acceptance Rate: 73.9%]

  40. "A Study on Low-Drift State Estimation for Humanoid Locomotion, Using LiDAR and Kinematic-Inertial Data Fusion"
    Vignesh Sushrutha Raghavan, Dimitrios Kanoulas, Chengxu Zhou, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the 18th IEEE/RAS International Conference on Humanoid Robots, Humanoids 2018.
    [.pdf] [video] [official link] [Acceptance Rate: 73.9%]

  41. "Bi-Manual Articulated Robot Teleoperation using an External RGB-D Range Sensor",
    Emily-Jane Rolley-Parnell, Dimitrios Kanoulas, Arturo Laurenzi, Brian Delhaisse, Leonel Rozo, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the 15th International Conference on Control, Automation, Robotics and Vision, ICARCV 2018.
    Best Student Paper Award Finalist.
    [.pdf] [.ppt] [video] [site] [code] [official link] [Acceptance Rate: 76%]

  42. "A Self-tuning Impedance Controller for Autonomous Robotic Manipulation",
    Pietro Balatti, Dimitrios Kanoulas, Giuseppe Francesco Rigano, Luca Muratore, Nikos G. Tsagarakis, Arash Ajoudani.
    In the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2018.
    [.pdf] [official link] [Acceptance Rate: 46.7%]

  43. "Footstep Planning in Rough Terrain for Bipedal Robots using Curved Contact Patches",
    Dimitrios Kanoulas, Alexander Stumpf, Vignesh Sushrutha Raghavan, Chengxu Zhou, Alexia Toumpa, Oskar von Stryk, Darwin G. Caldwell, and Nikos Tsagarakis.
    In the 2018 IEEE International Conference on Robotics and Automation, ICRA 2018.
    [.pdf] [video] [poster] [official link] [Acceptance Rate: 40.6%]

  44. "Translating Videos to Commands for Robotic Manipulation with Deep Recurrent Neural Networks",
    Anh Nguyen, Dimitrios Kanoulas, Luca Muratore, Darwin G. Caldwell, Nikos Tsagarakis.
    In the 2018 IEEE International Conference on Robotics and Automation, ICRA 2018.
    [.pdf] [site/database] [official link] [Acceptance Rate: 40.6%]

  45. "Vision-Based Foothold Contact Reasoning using Curved Surface Patches",
    Dimitrios Kanoulas, Chengxu Zhou, Anh Nguyen, Georgios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the 17th IEEE/RAS International Conference on Humanoid Robots, Humanoids 2017.
    Best Interactive Paper Award Winner.
    [.pdf] [video] [official link] [Acceptance Rate: 54%]

  46. "Object-Based Affordances Detection with Convolutional Neural Networks and Dense Conditional Random Fields",
    Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2017.
    [.pdf] [video] [site/database] [official link] [Acceptance Rate: 45%]

  47. "Uncertainty Analysis for Curved Surface Contact Patches",
    Dimitrios Kanoulas, Nikos G. Tsagarakis and Marsette Vona.
    In the 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016.
    [.pdf] [poster] [official link] [Acceptance Rate: 65%]

  48. "An Affordance-Based Pilot Interface for High-Level Control of Humanoid Robots in Supervised Autonomy",
    Peter Kaiser, Dimitrios Kanoulas, Markus Grotz, Luca Muratore, Alessio Rocchi, Enrico Mingo Hoffman, Nikos Tsagarakis, and Tamim Asfour.
    In the 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016.
    [.pdf] [video1] [video2] [official link] [Acceptance Rate: 65%]

  49. "Terrain Classification and Locomotion Parameters Adaptation for Humanoid Robots Using Force/Torque Sensing",
    Krzysztof Tadeusz Walas, Dimitrios Kanoulas, Przemyslaw Kryczka.
    In the 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016.
    [.pdf] [official link] [Acceptance Rate: 65%]

  50. "An Active Compliant Impact Protection System for Humanoids: Application to WALK-MAN Hands",
    Jinoh Lee, Wooseok Choi, Dimitrios Kanoulas, Rajesh Subburaman, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the 16th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2016.
    [.pdf] [video] [official link] [Acceptance Rate: 65%]

  51. "Preparatory Object Reorientation for Task-Oriented Grasping",
    Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016.
    [.pdf] [video] [site] [official link] [Acceptance Rate: 48%]

  52. "Detecting Object Affordances with Convolutional Neural Networks",
    Anh Nguyen, Dimitrios Kanoulas, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2016.
    [.pdf] [video] [site] [official link] [Acceptance Rate: 48%]

  53. "Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction",
    Peter Kaiser, Eren E. Aksoy, Markus Grotz, Dimitrios Kanoulas, Nikos G. Tsagarakis, and Tamim Asfour.
    In the International Symposium on Experimental Robotics, ISER 2016.
    [.pdf] [official link] [Acceptance Rate: %]

  54. "Optically-Regulated Impedance-Based Balancing for Humanoid Robots",
    Emmanouil Spyrakos-Papastavridis, Dimitrios Kanoulas, Nikos G. Tsagarakis, and Darwin G. Caldwell.
    In the 15th IEEE RAS Humanoids Conference on Humanoids Robots, Humanoids 2015.
    [.pdf] [video] [official link] [Acceptance Rate: %]

  55. "A Three-Toe Biped Foot with Hall-Effect Sensing",
    Sergio Castro Gomez, Marsette Vona, Dimitrios Kanoulas.
    In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015.
    [.pdf] [official link] [Acceptance Rate: 46%]

  56. "Bio-Inspired Rough Terrain Contact Patch Perception",
    Dimitrios Kanoulas and Marsette Vona.
    In the 2014 IEEE International Conference on Robotics and Automation, ICRA 2014.
    [.pdf] [official link] [Acceptance Rate: 48%]

  57. "Sparse Surface Modeling with Curved Patches",
    Dimitrios Kanoulas and Marsette Vona.
    In the 2013 IEEE International Conference on Robotics and Automation, ICRA 2013.
    [.pdf] [official link] [Acceptance Rate: 39%]

  58. "Cache me if you can: Capacitated Selfish Replication in Networks",
    Ragavendran Gopalakrishnan, Dimitrios Kanoulas, Naga Naresh Karuturi, C. Pandu Rangan, Rajmohan Rajaraman, and Ravi Sundaram.
    In the Latin American Symposium on Theoretical Informatics (Lecture Notes in Computer Science, vol 7256. Springer, Berlin, Heidelberg), LATIN 2012.
    [.pdf] [arXiv] [slides] [official link] [Acceptance Rate: 36%]

  59. "Curved Surface Contact Patches with Quantified Uncertainty",
    Marsette Vona and Dimitrios Kanoulas.
    In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011.
    [.pdf] [videos] [source code] [official link] [Acceptance Rate: 32%]

  60. "Performance Evaluation of a Descent Algorithm for Bi-Matrix Games",
    Haralampos Tsaknakis, Paul Spirakis, and Dimitrios Kanoulas.
    In the 4th International Workshop on Internet and Network Economics (Lecture Notes in Computer Science, vol 5385. Springer, Berlin, Heidelberg), WINE 2008.
    [Paper .pdf] [TR .pdf] [arXiv] [official link] [Acceptance Rate: 33%]


Workshops/Posters:
  1. "LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation",
    Jianhao Jiao, Jinhao He, Changkun Liu, Sebastian Aegidius, Xiangcheng Hu, Tristan Braud, Dimitrios Kanoulas
    In BMVA Symposium: Robotics Foundation & World Models (BMVA 2024).
    [.pdf]
    [official link]

  2. "LiteVLoc: Map-Lite Visual Localization for Image Goal Navigation",
    Jianhao Jiao, Jinhao He, Changkun Liu, Sebastian Aegidius, Xiangcheng Hu, Tristan Braud, Dimitrios Kanoulas
    In the IROS Standing the Test of Time Workshop (IROS 2024).
    [.pdf]
    [official link]

  3. "Analysing the Generalisation and Reliability of Steering Vectors",
    Daniel Chee Hian Tan, David Chanin, Aengus Lynch, Adrià Garriga-Alonso, Dimitrios Kanoulas, Brooks Paige, Robert Kirk
    In the International Conference on Machine Learning (ICML): Workshop on Mechanistic Interpretability (ICML 2024).
    [.pdf]
    [official link]

  4. "Diffusion-based Global and Local Path Planning for Agile Robots",
    Maria Stamatopoulou, Jianwei Liu, Dimitrios Kanoulas
    In the IEEE 2024 ICRA Workshop on Agile Robotics: From Perception to Dynamic Action (ICRA 2024).
    [.pdf]
    [official link]

  5. "Your Value Function is a Control Barrier Function",
    Daniel Chee Hian Tan, Fernando Acero, Robert McCarthy, Dimitrios Kanoulas, and Zhibin Li.
    In the International Conference on Machine Learning (ICML): 2nd Workshop on Formal Verification of Machine Learning (WFVML 2023).
    Outstanding Paper Finalist.
    [.pdf]
    [official link]

  6. "End-to-End Stable Imitation Learning via Autonomous Neural Dynamic Policies",
    Dionisis Totsila, Konstantinos Chatzilygeroudis, Denis Hadjivelichkov, Valerio Modugno, Dimitrios Kanoulas.
    In the 2023 IEEE International Conference on Robotics and Automation Workshop: Life-Long Learning with Human Help (L3H2).
    [.pdf]
    [arXiv]

  7. "ShorelineNet: An Efficient Deep Learning Approach for Shoreline Semantic Segmentation for Unmanned Surface Vehicles",
    Linghong Yao, Dimitrios Kanoulas, Ze Ji, Yuanchang Liu.
    In the 2022 IEEE UK & Ireland RAS Conference, IEEE-UKandIreland 2022.
    [.pdf]

  8. "Less Reward is More: Improved Reinforcement Learning Control of a Mobile Manipulator using Clamped Joints",
    Denis Hadjivelichkov, Kostas Vlachos, Dimitrios Kanoulas.
    In the 13th Asian Conference on Machine Learning Workshop on Machine Learning for Mobile Robot Vision and Control, MVRL 2021.
    [.pdf] [arXiv]

  9. "SEROW: Legged Robot State Estimation",
    Stylianos Piperakis, Dimitrios Kanoulas, and Panos Trahanias.
    In the 2021 Dynamic Walking: Drawing the Blueprints for Legged Locomotion, Dynamic Walking 2021.
    [.pdf] [poster] [video]

  10. "Humanoid Robot Dense RGB-D SLAM for Embedded Devices",
    with Stylianos Piperakis, Nikolaos Tavoularis, Emmanouil Hourdakis, and Panos Trahanias.
    In the 2019 IEEE International Conference on Robotics and Automation Workshop: Towards Real-World Deployment of Legged Robots, ICRA 2019.
    [.pdf]

  11. "TelePose: a Teleoperation Robotic System based on External Range Sensing - Application on the Centaur-like Robot CENTAURO",
    with Emily-Jane Rolley-Parnell, Arturo Laurenzi, Brian Delhaisse, Leonel Rozo, Darwin G. Caldwell, Nikos G. Tsagarakis.
    In the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems Workshop: Human-Robot Cooperation and Collaboration in Manipulation: Advancements and Challenges, IROS 2018.
    [.pdf]

  12. "Vision-Based Footstep Localization for Rough Terrain Locomotion",
    with Alexia Toumpa, Chengxu Zhou, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the 2017 IEEE International Conference on Robotics and Automation Workshop: Robust Perception, Planning, and Control for Legged Robot Locomotion in Challenging Domains, ICRA 2017.
    [.pdf]

  13. "Towards Scene Understanding for Autonomous Manipulation",
    with Anh Nguyen, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the 2016 IEEE International Conference on Robotics and Automation Workshop: Nature versus Nurture in Robotics, ICRA 2016.
    [.pdf]

  14. "Development of Modular and Active Impact Protection System for Humanoids Falling",
    with Jinoh Lee, Wooseok Choi, Rajesh Subburaman, Darwin G. Caldwell, and Nikos G. Tsagarakis.
    In the 2016 IEEE International Conference on Robotics and Automation Workshop: Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions, ICRA 2016.
    [.pdf]

  15. "Rough Terrain Perception for Bipedal Robots using Curved Contact Patches",
    In the IEEE/RSJ International Conference on Intelligent Robots and Systems Workshop: Perception and Planning for Legged Robot Locomotion in Challenging Domains, IROS 2015.
    [.pdf]

  16. "The Surface Patch Library (SPL)",
    with Marsette Vona.
    In the 2014 IEEE International Conference on Robotics and Automation Workshop: MATLAB/Simulink for Robotics Education and Research, ICRA 2014.
    [.pdf]

  17. "Intensity and Depth Data Integration for Vehicle Detection",
    with Alexandros Makris, Mathias Perrollaz, Christian Laugier.
    For the NSF/REUSSI/INRIA meeting, CSU, June 2014.
    [.pdf]

  18. "Surface Patches for Rough Terrain Perception",
    In the Northeast Robotics Colloquium, Second Edition (poster), NERC 2013.
    [.pdf]


Unrefreed
  1. "My Tribute to Dr Haralampos Tsaknakis", Dimitrios Kanoulas.
    [.pdf]
  2. "Legged Robotics: Agile and Dynamic Interaction",
    M. Fallon, I. Havoutis, D. Kanoulas, Z. Li, D. Megson-Smith, C. Zhou.
    UK-RAS White papers, June 2022
    [.pdf]
  3. "CTY Robotics and Applied Computing",
    with Marsette Vona.
    Manual Documentation, December 2012
    [.pdf]

Theses:
  1. Curved Surface Patches for Rough Terrain Perception
    Ph.D. Thesis, College of Computer and Information Science, Northeastern University.
    Advisor: Marsette Vona
    [.pdf-shrink (5MB)] [talk]

  2. "Approximate Nash Equilibrium: Conducting Theoretical and Experimental Research on Optimal
    Algorithms that can Result in Better Approximate Nash Equilibria in Bi-Matrices Games",
    Bachelor`s Thesis, University of Patras, Computer Engineering and Informatics Dept.
    co-advisors: Paul Spirakis and Haralampos Tsaknakis, July 2008
    [.pdf] (in Greek)

Workshop Organizer

  1. Autonomous Quadruped Robot Challenge (AQRC),
    Hyungpil Moon, Paul Oh, Donald Sofge, Hyunchul David Shim, Adam Jacoff, Sehoon Ha, Jie Tan, Donghyun Kim, Oliver Huke, Dimitrios Kanoulas.
    In the IEEE International Conference on Robotics and Automation (ICRA), IROS 2024.
  2. Autonomous Quadruped Robot Challenge (AQRC),
    Hyungpil Moon, Paul Oh, Donald Sofge, Hyunchul David Shim, Adam Jacoff, Sehoon Ha, Jie Tan, Donghyun Kim, Oliver Huke, Dimitrios Kanoulas.
    In the IEEE International Conference on Robotics and Automation (ICRA), ICRA 2024.
  3. Autonomous Quadruped Robot Challenge (AQRC),
    Hyungpil Moon, Paul Oh, Donald Sofge, Hyunchul David Shim, Adam Jacoff, Sehoon Ha, Jie Tan, Donghyun Kim, Oliver Huke, Dimitrios Kanoulas.
    In the IEEE International Conference on Robotics and Automation (ICRA), ICRA 2023.
  4. The Role of Uncertainty and How it is Tackled in Robotic Grasping and Manipulation,
    Yasemin Bekiroglu, Marc Peter Deisenroth, Miao Li, Lorenzo Jamone, Roberto Calandra, Dimitrios Kanoulas [UCL, UK], Florian T. Pokorny, Pietro Falco.
    In the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IROS 2022.
  5. Towards Real-World Deployment of Legged Robots,
    Shamel Fahmi [MIT, USA], Dimitrios Kanoulas [UCL, UK], Marko Bjelonic [ETH, Switzerland], Navinda Kottege [CSIRO, Australia], Krzysztof Walas [Poznan Univ., Poland].
    In the IEEE International Conference on Robotics and Automation (ICRA), ICRA 2022.
  6. Towards Real-World Deployment of Legged Robots,
    with K. Walas [Poznan Univ., Poland], N. Kottege [CSIRO, Australia], A. Ames [CalTech, USA], M. Bjelonic [ETH, Switzerland]
    In the IEEE International Conference on Robotics and Automation (ICRA), ICRA 2021.
  7. UK-RAS Legged Robotics Task Group: Webinars [1] [2],
    with Maurice Fallon [University of Oxford], Ioannis Havoutis [University of Oxford], Chengxu Zhou [University of Leeds], Zhibin Li [University of Edinburgh], and Michael Mistry [University of Edinburgh]
    In the RAIN – Robotics and AI in Nuclear Research Hub Events, RAIN 2020.
  8. Why Robots fail to grasp? - Failure ca(u)ses in Robot Grasping and Manipulation,
    with Joao Bimbo [Yale, USA], Giulia Vezzani [DeepMind, UK], Kensuke Harada [Osaka Univ., Japan]
    In the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IROS 2020.
  9. Towards Real-World Deployment of Legged Robots,
    with M. Bjelonic [ETH, Switzerland], K. Walas [Poznan Univ., Poland], N. Kottege [CSIRO, Australia], A. Ames [CalTech, USA]
    In the IEEE International Conference on Robotics and Automation (ICRA), ICRA 2020.
  10. Towards Real-World Deployment of Legged Robots,
    with M. Bjelonic [ETH, Switzerland], K. Walas [Poznan Univ., Poland], M. Camurri [Univ. of Oxford, UK], N. Kottege [CSIRO, Australia], E. Yoshida [AIST, Japan]
    In the IEEE International Conference on Robotics and Automation (ICRA), ICRA 2019.
  11. Humanoid Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions.,
    with Jinoh Lee, [IIT, Italy], Abderrahmane Kheddar [CNRS \& CNRS-AIST, Japan/France], and Yohei Kakiuchi [Univ. of Tokyo, Japan]
    In the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IROS 2018.
    [.pdf]
  12. Robust Perception, Planning, and Control for Legged Robot Locomotion in Challenging Domains,
    with Ioannis Havoutis [Univ. of Oxford, UK], Maurice Fallon [Univ. of Oxford, UK], Andrea Del Prete [LAAS-CNRS, France], and Eiichi Yoshida [AIST, Japan].
    In the IEEE International Conference on Robotics and Automation (ICRA), ICRA 2017.
    [.pdf]
  13. Legged Robot Falling: Fall Detection, Damage Prevention, and Recovery Actions,
    with Seungkook Yun [SRI, USA] and Sung-Hee Lee [KAIST, Korea]
    In the IEEE International Conference on Robotics and Automation (ICRA), ICRA 2016.
  14. Proprioceptive and Exteroceptive Data Fusion for State Estimation and Whole-Body Control of Humanoid Robots,
    with Federico Moro [IIT, Italy], Jaeheung Park [SNU, South Korea], and Luis Sentis [UTexas, USA],
    In the IEEE-RAS International Conference on Humanoid Robots, Humanoids 2015.
  15. Perception and Planning for Legged Robot Locomotion in Challenging Domains,
    with Ioannis Havoutis [IDIAP, Switzerland], Maurice Fallon [Univ. of Edinburgh], and Eiichi Yoshida [AIST, Japan].
    In the IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015.


Misc Documents

A nice set of misc documents of general interest can be found bellow:
  1. "How to Present Your Research Ideas", Javed Aslam.
    [.pdf]