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Dr. Tim Welschehold

Postdoctoral Researcher
Postal address:

Albert-Ludwigs-Universität Freiburg
Technische Fakultät
Robot Learning Lab
Georges-Köhler-Allee 080
D-79110 Freiburg i. Br., Germany

Office: Buildig 80, 01-002
Email: twelsche@cs.uni-freiburg.de
Phone: +49 761 203-8005

About me

Research Interests

  • Learning from demonstrations
  • Dynamical systems
  • Reinforcement learning

Current Research Projects

Past Research Projects

Publications

Google scholar profile

2022

  • Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    N2M2:Learning Navigation for Arbitrary Mobile Manipulation Motions in Unseen and Dynamic Environments
    arXiv preprint arXiv:2206.08737, 2022.
    Download Video Demo BibTeX
  • Fabian Schmalstieg*, Daniel Honerkamp*, Tim Welschehold, Abhinav Valada,
    Learning Long-Horizon Robot Exploration Strategies for Multi-Object Search in Continuous Action Spaces
    ArXiv preprint, 2022.
    Download BibTeX
  • Iman Nematollahi, Erick Rosete-Beas, Adrian Röfer, Tim Welschehold, Abhinav Valada, Wolfram Burgard,
    Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models
    IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022.
    Download Video Project Page BibTeX
  • Eugenio Chisari , Tim Welschehold, Joschka Boedecker, Wolfram Burgard, Abhinav Valada,
    Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation
    arXiv preprint arXiv:2110.03316, IEEE Robotics and Automation Letters (RA-L), 2022.
    Download BibTeX
  • Shengchao Yan , Tim Welschehold, Daniel Büscher, Wolfram Burgard,
    Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning
    IEEE Robotics and Automation Letters (RA-L),7(1):191--198., 2022.
    Download BibTeX
  • Laura Londoño, Adrian Röfer, Tim Welschehold, Abhinav Valada,
    Doing Right by Not Doing Wrong in Human-Robot Collaboration
    ACM/IEEE International Conference on Human-Robot Interaction Workshop on Fairness and Transparency in Human-Robot Interaction, 2022.
    Download BibTeX

2021

  • Abdelrahman Younes*, Daniel Honerkamp*, Tim Welschehold, Abhinav Valada,
    Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Sounds
    ArXiv preprint, 2021.
    Download BibTeX
  • Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    Learning Kinematic Feasibility for Mobile Manipulation through Deep Reinforcement Learning
    in IEEE Robotics and Automation Letters (RA-L) , 2021.
    Download Video Demo BibTeX
  • Abdelrahman Younes, Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    SoundSpaces Challenge - 1st Place
    Conference on Computer Vision and Pattern Recognition (CVPR) Embodied AI Workshop, 2021.
    Video Challenge

2020

  • Tim Welschehold
    Learning mobile manipulation actions from human demonstrations: an approach to learning and augmenting action models and their integration into task representations
    Ph.D. Dissertation
    Download

2019

  • Tim Welschehold, Nichola Abdo, Christian Dornhege, Wolfram Burgard
    Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.
    Download BibTeX
  • Iman Nematollahi , Daniel Kuhner, Tim Welschehold, Wolfram Burgard
    Augmenting Action Model Learning by Non-Geometric Features
    IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.
    Download BibTeX

2018

  • Tim Welschehold, Christian Dornhege, Fabian Paus, Tamim Asfour, Wolfram Burgard
    Coupling Mobile Base and End-Effector Motion in Task Space
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
    Download BibTeX
  • Christian Zimmermann, Tim Welschehold, Christian Dornhege, Wolfram Burgard, Thomas Brox
    3D Human Pose Estimation in RGBD Images for Robotic Task Learning
    IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018.
    Download BibTeX

2017

  • Tim Welschehold, Christian Dornhege, Wolfram Burgard
    Learning Mobile Manipulation Actions from Human Demonstrations
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
    Download BibTeX
  • Tim Welschehold, Nichola Abdo, Christian Dornhege, Wolfram Burgard
    Towards Learning Task Intentions from Human Demonstrations
    Workshop on “Learning for Collaborative Robotics: Enabling Flexible, Redeployable and Agile Industrial Applications” at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
    Download BibTeX

2016

  • Tim Welschehold, Christian Dornhege, Wolfram Burgard
    Learning Manipulation Actions from Human Demonstrations
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016.
    Download BibTeX

Teaching

Seminars

Current Students

  • Model-free RL in mobile manipulation, A. Khalid, Master Project
  • Hierarchical mobile manipulation, F. Schmalstieg, Master Project

Past Students

  • Dynamical Audio-Visual Navigation: Catching Moving Unheard Sound Sources in Unmapped 3D Environments, 2021. Master Thesis of Abdelrahman Younes (co-supervised with Daniel Honerkamp)
  • Deep Reinforcement Learning for Adapting Dynamical Systems, 2021. Master Project of Erick Rosete Beas (co-supervised with Iman Nematollahi )
  • Augmenting Action Model Learning by Non-Geometric Features, 2018. Master Thesis of Iman Nematollahi (co-supervised with Daniel Kuhner )