Publications

2025

1. 

   Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation

   Haofei Lu, Yifei Dong, Zehang Weng, and 2 more authors

   arXiv preprint arXiv:2503.22370, 2025

   Bib PDF

   @article{lu2025grasping,
     title = {Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation},
     author = {Lu, Haofei and Dong, Yifei and Weng, Zehang and Lundell, Jens and Kragic, Danica},
     journal = {arXiv preprint arXiv:2503.22370},
     year = {2025},
   }

2. 

   Pushing Everything Everywhere All At Once: Probabilistic Prehensile Pushing

   Patrizio Perugini, Jens Lundell, Katharina Friedl, and 1 more author

   IEEE Robotics and Automation Letters, 2025

   Bib PDF Code

   @article{perugini2025pushing,
     title = {Pushing Everything Everywhere All At Once: Probabilistic Prehensile Pushing},
     author = {Perugini, Patrizio and Lundell, Jens and Friedl, Katharina and Kragic, Danica},
     journal = {IEEE Robotics and Automation Letters},
     year = {2025},
     publisher = {IEEE},
   }

3. FLoRA: Sample-Efficient Preference-based RL via Low-Rank Style Adaptation of Reward Functions

   Daniel Marta, Simon Holk, Miguel Vasco, and 6 more authors

   In IEEE International Conference on Robotics and Automation (ICRA), 2025

   Bib

   @inproceedings{marta2025flora,
     title = {FLoRA: Sample-Efficient Preference-based RL via Low-Rank Style Adaptation of Reward Functions},
     author = {Marta, Daniel and Holk, Simon and Vasco, Miguel and Lundell, Jens and Homberger, Timon and Busch, Finn L and Andersson, Olov and Kragic, Danica and Leite, Iolanda},
     booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
     year = {2025},
   }

2024

1. 

   Cloth-Splatting: 3D State Estimation from RGB Supervision for Deformable Objects

   Alberta Longhini, Marcel Büsching, Bardienus Pieter Duisterhof, and 4 more authors

   In 8th Annual Conference on Robot Learning, 2024

   Bib PDF Code

   @inproceedings{longhini2024clothsplatting,
     title = {Cloth-Splatting: 3D State Estimation from {RGB} Supervision for Deformable Objects},
     author = {Longhini, Alberta and B{\"u}sching, Marcel and Duisterhof, Bardienus Pieter and Lundell, Jens and Ichnowski, Jeffrey and Bj{\"o}rkman, M{\r{a}}rten and Kragic, Danica},
     booktitle = {8th Annual Conference on Robot Learning},
     year = {2024},
   }

2. A Riemannian Framework for Learning Reduced-order Lagrangian Dynamics

   Katharina Friedl, Noémie Jaquier, Jens Lundell, and 2 more authors

   arXiv preprint arXiv:2410.18868, 2024

   Bib PDF

   @article{friedl2024riemannian,
     title = {A Riemannian Framework for Learning Reduced-order Lagrangian Dynamics},
     author = {Friedl, Katharina and Jaquier, No{\'e}mie and Lundell, Jens and Asfour, Tamim and Kragic, Danica},
     journal = {arXiv preprint arXiv:2410.18868},
     year = {2024},
   }

3. 

   Dexdiffuser: Generating dexterous grasps with diffusion models

   Zehang Weng, Haofei Lu, Danica Kragic, and 1 more author

   IEEE Robotics and Automation Letters, 2024

   Bib PDF Code

   @article{weng2024dexdiffuser,
     title = {Dexdiffuser: Generating dexterous grasps with diffusion models},
     author = {Weng, Zehang and Lu, Haofei and Kragic, Danica and Lundell, Jens},
     journal = {IEEE Robotics and Automation Letters},
     year = {2024},
     publisher = {IEEE},
   }

4. CAPGrasp: An $\mathbbR^3\times\mathrmSO(2)$-equivariant Continuous Approach-Constrained Generative Grasp Sampler

   Zehang Weng, Haofei Lu, Jens Lundell, and 1 more author

   In , 2024

   Bib PDF Code

   @inproceedings{weng2024capgrasp,
     title = {CAPGrasp: An $$\mathbb{R}^{3}\times\mathrm{SO}(2)$$-equivariant Continuous Approach-Constrained Generative Grasp Sampler},
     author = {Weng, Zehang and Lu, Haofei and Lundell, Jens and Kragic, Danica},
     journal = {IEEE Robotics and Automation Letters},
     year = {2024},
     publisher = {IEEE},
   }

2023

1. Enabling robot manipulation of soft and rigid objects with vision-based tactile sensors

   Michael C Welle, Martina Lippi, Haofei Lu, and 3 more authors

   In 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023

   Bib PDF

   @inproceedings{welle2023enabling,
     title = {Enabling robot manipulation of soft and rigid objects with vision-based tactile sensors},
     author = {Welle, Michael C and Lippi, Martina and Lu, Haofei and Lundell, Jens and Gasparri, Andrea and Kragic, Danica},
     booktitle = {2023 IEEE 19th International Conference on Automation Science and Engineering (CASE)},
     pages = {1--7},
     year = {2023},
     organization = {IEEE},
   }

2. Constrained generative sampling of 6-dof grasps

   Jens Lundell, Francesco Verdoja, Tran Nguyen Le, and 3 more authors

   In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023

   Bib PDF Code

   @inproceedings{lundell2023constrained,
     title = {Constrained generative sampling of 6-dof grasps},
     author = {Lundell, Jens and Verdoja, Francesco and Le, Tran Nguyen and Mousavian, Arsalan and Fox, Dieter and Kyrki, Ville},
     booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {2940--2946},
     year = {2023},
     organization = {IEEE},
     journal = {arXiv preprint arXiv:2302.10745},
   }

3. GoNet: An Approach-Constrained Generative Grasp Sampling Network

   Zehang Weng, Haofei Lu, Jens Lundell, and 1 more author

   In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 2023

   Bib PDF

   @inproceedings{weng2023gonet,
     title = {GoNet: An Approach-Constrained Generative Grasp Sampling Network},
     author = {Weng, Zehang and Lu, Haofei and Lundell, Jens and Kragic, Danica},
     booktitle = {2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids)},
     pages = {1--7},
     year = {2023},
     organization = {IEEE},
     journal = {arXiv preprint arXiv:2303.07972},
   }

2022

1. Towards Robust 6-DoF Multi-Finger Grasping in Clutter with Explicit Scene Understanding

   Jens Lundell

   2022

   Bib PDF

   @phdthesis{lundell2022towards,
     title = {Towards Robust 6-DoF Multi-Finger Grasping in Clutter with Explicit Scene Understanding},
     author = {Lundell, Jens},
     year = {2022},
     publisher = {Aalto University},
   }

2. A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects

   Tran Nguyen Le, Jens Lundell, Fares J Abu-Dakka, and 1 more author

   In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022

   Bib PDF

   @inproceedings{le2022novel,
     title = {A Novel Simulation-Based Quality Metric for Evaluating Grasps on 3D Deformable Objects},
     author = {Le, Tran Nguyen and Lundell, Jens and Abu-Dakka, Fares J and Kyrki, Ville},
     author+an = {1=highlight},
     booktitle = {2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {3123--3129},
     year = {2022},
     organization = {IEEE},
   }

3. POMDP planning under object composition uncertainty: Application to robotic manipulation

   Joni Pajarinen, Jens Lundell, and Ville Kyrki

   IEEE Transactions on Robotics, 2022

   Bib PDF

   @article{pajarinen2022pomdp,
     title = {POMDP planning under object composition uncertainty: Application to robotic manipulation},
     author = {Pajarinen, Joni and Lundell, Jens and Kyrki, Ville},
     journal = {IEEE Transactions on Robotics},
     year = {2022},
     publisher = {IEEE},
   }

4. Active Visuo-Haptic Object Shape Completion

   Lukas Rustler, Jens Lundell, Jan Kristof Behrens, and 2 more authors

   IEEE Robotics and Automation Letters, 2022

   Bib PDF Code

   @article{rustler2022active,
     title = {Active Visuo-Haptic Object Shape Completion},
     author = {Rustler, Lukas and Lundell, Jens and Behrens, Jan Kristof and Kyrki, Ville and Hoffmann, Matej},
     journal = {IEEE Robotics and Automation Letters},
     volume = {7},
     number = {2},
     pages = {5254--5261},
     year = {2022},
     publisher = {IEEE},
   }

5. Deformation-aware data-driven grasp synthesis

   Tran Nguyen Le, Jens Lundell, Fares J Abu-Dakka, and 1 more author

   IEEE Robotics and Automation Letters, 2022

   Bib PDF

   @article{le2022deformation,
     title = {Deformation-aware data-driven grasp synthesis},
     author = {Le, Tran Nguyen and Lundell, Jens and Abu-Dakka, Fares J and Kyrki, Ville},
     journal = {IEEE Robotics and Automation Letters},
     volume = {7},
     number = {2},
     pages = {3038--3045},
     year = {2022},
     publisher = {IEEE},
   }

2021

1. 

   DDGC: Generative deep dexterous grasping in clutter

   Jens Lundell, Francesco Verdoja, and Ville Kyrki

   IEEE Robotics and Automation Letters, 2021

   Bib PDF Code

   @article{lundell2021ddgc,
     title = {DDGC: Generative deep dexterous grasping in clutter},
     author = {Lundell, Jens and Verdoja, Francesco and Kyrki, Ville},
     journal = {IEEE Robotics and Automation Letters},
     volume = {6},
     number = {4},
     pages = {6899--6906},
     year = {2021},
     publisher = {IEEE},
   }

2. Multi-FinGAN: Generative coarse-to-fine sampling of multi-finger grasps

   Jens Lundell, Enric Corona, Tran Nguyen Le, and 5 more authors

   In 2021 IEEE International Conference on Robotics and Automation (ICRA), 2021

   Bib PDF Code

   @inproceedings{lundell2021multi,
     title = {Multi-FinGAN: Generative coarse-to-fine sampling of multi-finger grasps},
     author = {Lundell, Jens and Corona, Enric and Le, Tran Nguyen and Verdoja, Francesco and Weinzaepfel, Philippe and Rogez, Gr{\'e}gory and Moreno-Noguer, Francesc and Kyrki, Ville},
     booktitle = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {4495--4501},
     year = {2021},
     organization = {IEEE},
   }

2020

1. Safe grasping with a force controlled soft robotic hand

   Tran Nguyen Le, Jens Lundell, and Ville Kyrki

   In 2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC), 2020

   Bib

   @inproceedings{le2020safe,
     title = {Safe grasping with a force controlled soft robotic hand},
     author = {Le, Tran Nguyen and Lundell, Jens and Kyrki, Ville},
     booktitle = {2020 IEEE International Conference on Systems, Man, and Cybernetics (SMC)},
     pages = {342--349},
     year = {2020},
     organization = {IEEE},
   }

2. Beyond top-grasps through scene completion

   Jens Lundell, Francesco Verdoja, and Ville Kyrki

   In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020

   Bib PDF

   @inproceedings{lundell2020beyond,
     title = {Beyond top-grasps through scene completion},
     author = {Lundell, Jens and Verdoja, Francesco and Kyrki, Ville},
     booktitle = {2020 IEEE International Conference on Robotics and Automation (ICRA)},
     pages = {545--551},
     year = {2020},
     organization = {IEEE},
   }

2019

1. Robust grasp planning over uncertain shape completions

   Jens Lundell, Francesco Verdoja, and Ville Kyrki

   In 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019

   Bib PDF Code

   @inproceedings{lundell2019robust,
     title = {Robust grasp planning over uncertain shape completions},
     author = {Lundell, Jens and Verdoja, Francesco and Kyrki, Ville},
     booktitle = {2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {1526--1532},
     year = {2019},
     organization = {IEEE},
   }

2. Deep network uncertainty maps for indoor navigation

   Francesco Verdoja, Jens Lundell, and Ville Kyrki

   In 2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019

   Bib PDF

   @inproceedings{verdoja2019deep,
     title = {Deep network uncertainty maps for indoor navigation},
     author = {Verdoja, Francesco and Lundell, Jens and Kyrki, Ville},
     booktitle = {2019 IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids)},
     pages = {112--119},
     year = {2019},
     organization = {IEEE},
   }

3. Imitating human search strategies for assembly

   Dennis Ehlers, Markku Suomalainen, Jens Lundell, and 1 more author

   In 2019 International Conference on Robotics and Automation (ICRA), 2019

   Bib PDF

   @inproceedings{ehlers2019imitating,
     title = {Imitating human search strategies for assembly},
     author = {Ehlers, Dennis and Suomalainen, Markku and Lundell, Jens and Kyrki, Ville},
     booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
     pages = {7821--7827},
     year = {2019},
     organization = {IEEE},
   }

2018

1. Safe-to-explore state spaces: Ensuring safe exploration in policy search with hierarchical task optimization

   Jens Lundell, Robert Krug, Erik Schaffernicht, and 2 more authors

   In 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018

   Bib PDF

   @inproceedings{lundell2018safe,
     title = {Safe-to-explore state spaces: Ensuring safe exploration in policy search with hierarchical task optimization},
     author = {Lundell, Jens and Krug, Robert and Schaffernicht, Erik and Stoyanov, Todor and Kyrki, Ville},
     booktitle = {2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids)},
     pages = {132--138},
     year = {2018},
     organization = {IEEE},
   }

2. Hallucinating robots: Inferring obstacle distances from partial laser measurements

   Jens Lundell, Francesco Verdoja, and Ville Kyrki

   In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018

   Bib PDF Code

   @inproceedings{lundell2018hallucinating,
     title = {Hallucinating robots: Inferring obstacle distances from partial laser measurements},
     author = {Lundell, Jens and Verdoja, Francesco and Kyrki, Ville},
     booktitle = {2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
     pages = {4781--4787},
     year = {2018},
     organization = {IEEE},
   }

2017

1. Generalizing movement primitives to new situations

   Jens Lundell, Murtaza Hazara, and Ville Kyrki

   In Towards Autonomous Robotic Systems: 18th Annual Conference, TAROS 2017, Guildford, UK, July 19–21, 2017, Proceedings 18, 2017

   Bib PDF

   @inproceedings{lundell2017generalizing,
     title = {Generalizing movement primitives to new situations},
     author = {Lundell, Jens and Hazara, Murtaza and Kyrki, Ville},
     booktitle = {Towards Autonomous Robotic Systems: 18th Annual Conference, TAROS 2017, Guildford, UK, July 19--21, 2017, Proceedings 18},
     pages = {16--31},
     year = {2017},
     organization = {Springer},
   }