@article{welle2026transfer,title={Transfer learning in robotics: From promises to practice through the emerging role of foundation models},author={Welle, Michael C and Jaquier, No{\'e}mie and Gams, Andrej and Lundell, Jens and Kragic, Danica},journal={Science Robotics},volume={11},number={113},pages={eaeh4374},year={2026},publisher={American Association for the Advancement of Science},doi={10.1126/scirobotics.aeh4374},}
MoDex: A Diffusion Policy for Sequential Multi-Object Dexterous Grasping
Haofei Lu, Hongjia Liu, Yifei Dong, and 3 more authors
@article{lu2026modex,title={MoDex: A Diffusion Policy for Sequential Multi-Object Dexterous Grasping},author={Lu, Haofei and Liu, Hongjia and Dong, Yifei and Pokorny, Florian T and Lundell, Jens and Kragic, Danica},journal={arXiv preprint arXiv:2606.05407},year={2026},}
Reduced-order Control and Geometric Structure of Learned Lagrangian Latent Dynamics
Katharina Friedl, Noémie Jaquier, Seungyeon Kim, and 2 more authors
@article{friedl2026reduced,title={Reduced-order Control and Geometric Structure of Learned Lagrangian Latent Dynamics},author={Friedl, Katharina and Jaquier, No{\'e}mie and Kim, Seungyeon and Lundell, Jens and Kragic, Danica},journal={arXiv preprint arXiv:2602.08963},year={2026},}
2025
A Non-Adversarial Approach to Idempotent Generative Modelling
Mohammed Al-Jaff, Giovanni Luca Marchetti, Michael C Welle, and 5 more authors
In Proceedings of the 28th European Conference on Artificial Intelligence (ECAI), 2025
@inproceedings{aljaff2025nonadversarial,title={A Non-Adversarial Approach to Idempotent Generative Modelling},author={Al-Jaff, Mohammed and Marchetti, Giovanni Luca and Welle, Michael C and Lundell, Jens and Gustafsson, Mats G and Henter, Gustav Eje and Azizpour, Hossein and Kragic, Danica},booktitle={Proceedings of the 28th European Conference on Artificial Intelligence (ECAI)},year={2025},publisher={IOS Press},doi={10.3233/FAIA251035},}
Grasping a Handful: Sequential Multi-Object Dexterous Grasp Generation
Haofei Lu, Yifei Dong, Zehang Weng, and 2 more authors
@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={IEEE Robotics and Automation Letters},year={2025},publisher={IEEE},}
Pushing Everything Everywhere All At Once: Probabilistic Prehensile Pushing
Patrizio Perugini, Jens Lundell, Katharina Friedl, and 1 more author
@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},}
A Riemannian Framework for Learning Reduced-order Lagrangian Dynamics
Katharina Friedl, Noémie Jaquier, Jens Lundell, and 2 more authors
In International Conference on Learning Representations (ICLR), 2025
@inproceedings{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},booktitle={International Conference on Learning Representations (ICLR)},year={2025},}
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
@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
Cloth-Splatting: 3D State Estimation from RGB Supervision for Deformable Objects
Alberta Longhini, Marcel Büsching, Bardienus Pieter Duisterhof, and 4 more authors
@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},}
DexDiffuser: Generating dexterous grasps with diffusion models
Zehang Weng, Haofei Lu, Danica Kragic, and 1 more author
@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},}
CAPGrasp: An ℝ³ × SO(2)-equivariant Continuous Approach-Constrained Generative Grasp Sampler
Zehang Weng, Haofei Lu, Jens Lundell, and 1 more author
@article{weng2024capgrasp,title={CAPGrasp: An ℝ³ × 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
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
@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},}
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
@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},}
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
@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},}
2022
Towards Robust 6-DoF Multi-Finger Grasping in Clutter with Explicit Scene Understanding
@phdthesis{lundell2022towards,title={Towards Robust 6-DoF Multi-Finger Grasping in Clutter with Explicit Scene Understanding},author={Lundell, Jens},year={2022},publisher={Aalto University},}
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
@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},}
POMDP planning under object composition uncertainty: Application to robotic manipulation
@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},}
Active Visuo-Haptic Object Shape Completion
Lukas Rustler, Jens Lundell, Jan Kristof Behrens, and 2 more authors
@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},}
Deformation-aware data-driven grasp synthesis
Tran Nguyen Le, Jens Lundell, Fares J Abu-Dakka, and 1 more author
@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
DDGC: Generative deep dexterous grasping in clutter
@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},}
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
@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
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
@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},}
Beyond top-grasps through scene completion
Jens Lundell, Francesco Verdoja, and Ville Kyrki
In 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020
@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
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
@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},}
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
@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},}
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
@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
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
@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},}
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
@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
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
@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},}
