Prof. Dr. Dongheui Lee (이동희)
Associate Professor

Technische Universität München
Human-centered Assistive Robotics

Room: 5009, Karlstraße 45, 80333 München

Phone: +49 89 289-25780
Office hours: Please send email in advance.
dhlee@tum.de

 

Institute of Robotics and Mechatronics

German Aerospace Center (DLR)

Münchener Straße 20 82234 Oberpfaffenhofen-Weßling

Phone: +49 8153 28-1623

Office hours: Please send email in advance. Dongheui.Lee@dlr.de 



Other Affiliations


Short biography

Since 2017 Associate Professor (W3), Department of Electrical and Computer Engineering, Technical University of Munich (TUM), Germany
Since 2017 Group Leader, Institute of Robotics and Mechatronics, German Aerospace Center (DLR), Germany
2009 - 2017 Assistant Professor, Department of Electrical and Computer Engineering, Technical University of Munich (TUM), Germany
2007 - 2009 Project Assistant Professor, Department of Mechano-Informatics, The University of Tokyo, Japan
2007 Postdoctoral Researcher, Department of Mechano-Informatics, The University of Tokyo, Japan
2007 Ph.D. Information Science and Technology, Department of Mechano-Informatics, The University of Tokyo, Japan - "Statistical Mimesis from Partial Observation and its Application to Humanoid Robots"
2003 M.Sc. Mechanical Engineering, Kyung Hee University, Korea - "Range Sensor Based Localization of the Mobile Service Robot in Office Environments"
2001 - 2004 Research Scientist, KIST (Korea Institute of Science and Technology), Korea
2001 B.Sc. Mechanical Engineering, Kyung Hee University, Korea

Research interests

Human Robot Interaction

  • Symbolic Communication for physical Human Robot Interaction
  • Human-Robot Collaboration
  • Machine Learning for (Humanoid) Robots

Imitation learning 

  • Mimesis from Partial Observations
  • Manipulation Skill Transfer from Humans to Robots
  • Association and Reshaping of Motion Primitives
  • Step-by-step Learning Approach

Computer Vision

  • 3D Motion Recovery from Monocular Images
  • Daily Life Human Motion Capturing


Projects

  • DELIGHT – Life-span development of high-order body representations for the control of body balance: role of prediction during light haptic interactions with another individual, DFG Priority Programme "The Active Self", 1.1.2019-31.12.2021
  • GINA, Technologische Grundlagen fur effiziente und intuitive Mensch-Roboter-Interaktion, BMBF GINA hochwertig Gestaltete INteraktionsstrategien fur service- und Assistenzrobotik, 2018-2021
  • Human-Centered Cognitive Robots, Helmholtz, 2017-2022
  • Extraction of Performance indicators in daily-life postrual activities, DAAD, 2015-2019
  • LEACON - LEArning-CONtrol tight interaction: a novel Approach to robust execution of mobile manipulation Tasks, H2020 Marie Sklodowska-Curie Action, 2016-2018
  • A learning-control integreated Approach for robust mobile manipulation Tasks, TUM Foundation Fellowship, 2015-2016
  • ROLITOS - Robotic light touch support during locomotion in balance impaired humans, TUM IGSSE Independent Research Project, DFG, 2015-2018
  • SAPHARI – Safe and Autonomous Physical Human-Aware Robot Interaction, Large-scale integrating project (IP), European Commission, 2011.11 ~ 2015.10, Principal Investigator, Workpackage Leader
  • Cluster of Excellence, Cognition for Technical Systems (CoTeSys), (2009 - 2014), Principal Investigator
  • DFG project "Learning and Control of Dynamic Manipulation Tasks from Human Demonstrations" (2013-2016), Coordinator
  • IAS Project "Towards Intuitive Robots" (2013-2016), Coordinator
  • BMBF Project, Bilateral Cooperation in Education and Research KIST-CoTeSys: Congition for user-friendly robots in daily life (2011-2012), Coordinator
  • Project "IRT Foundation to Support Man and Aging Society" (2007-2009)
  • Project "Development of a Silver Mate Robot Platform: 21C Frontier Intelligent Robot Technology Development Project" (2003. 9 ~ 2004. 3), Funded by Ministry of Science and Technology of Korea.
  • Project "Development of Science Museum Guide Robots" (2003. 10 ~ 2004. 3), Funded by Ministry of Science and Technology of Korea.
  • Project "Tangible Space Initiative (TSI) Techonoly Development" (2002 ~ 2004. 3), Funded by Korea Institute of Science and Technology.
  • Project "Critical Techonology-21, Service Robot Techonoly Development" (2001. 2 ~ 2003. 8), Funded by Ministry of Science and Technology of Korea.

Lectures

Course
Semester
Machine Learning in Robotics SS 2010-present
Dynamic Human Robot Interaction WS 2010-present
Reinforcement Learning for Robotics WS 2017-present
Project Lab "Human Centered Robotics" SS,WS 2014-present
Advanced Seminar "Autonomous System" SS,WS 2014-present
Advanced Seminar "Cognitive Robotics and Control" SS,WS 2010-2014
Practical Course "Humanoid RoboCup" SS,WS 2016
Practical Course "Introduction Lab Humanoid RoboCup" SS 2017
Practical Course "Advanced Lab Humanoid RoboCup" SS 2017
Note: SS (Summer Semester), WS (Winter Semester)

Publications

Book chapters

  1. Sylvain Calinon and Dongheui Lee, Learning Control, Humanoid Robotics: a Reference, P. Vadakkepat and A. Goswami (eds.), Springer, 2017, DOI: 10.1007/978-94-007-7194-9_68-1

Journal articles

  1. Thomas Eiband, Matteo Saveriano, and Dongheui Lee, Learning Conditional Tasks by Demonstration of Multiple Solutions, IEEE Robotics and Automation Letters (RA-L), 2019 (accepted)
  2. Sang-ik An, and Dongheui Lee, Prioritized Inverse Kinematics: Generalization, IEEE Robotics and Automation Letters (RA-L), 2019, DOI: 10.1109/LRA.2019.2927945 (accepted)
  3. Pietro Falco, Shuang Lu, Ciro Natale, Salvatore Pirozzi and Dongheui Lee, A Transfer Learning Approach to Cross-modal Object Recognition: from Visual Observation to Robotic Haptic Exploration, IEEE Transactions on Robotics (TRO), Vol. 35 , No. 4, pp 987-998, 2019, DOI: 10.1109/TRO.2019.2914772 
  4. Affan Pervez, Hiba Latifee, Jee-Hwan Ryu and Dongheui Lee, Motion Encoding with Asynchronous Trajectories of Repetitive Teleoperation Tasks and its Extension to Human-Agent Shared Teleoperation, Autonomous Robots (AURO), 2019, DOI: 10.1007/s10514-019-09853-4 (accepted) link
  5. Riccardo Caccavale, Matteo Saveriano, Alberto Finzi and Dongheui Lee, Kinesthetic Teaching and Attentional Supervision of Structured Tasks in Human-Robot Interaction, Autonomous Robots (AURO), 43(6), pp 1291-1307, 2019, DOI: 10.1007/s10514-018-9706-9
  6. MJ Kim, J Lin, K Kondak, Dongheui Lee, C Ott, Oscillation damping control of pendulum-like manipulation platform using moving masses, IFAC-PapersOnLine, (presented at the 12th IFAC Symposium on Robot Control (SYROCO)), 51 (22), 465-470, 2018
  7. Pietro Falco, Matteo Saveriano, Dharmil Shah and Dongheui Lee, Representing Human Motion with FADE and U-FADE: an Efficient Frequency-Domain Approach, Autonomous Robots (AURO), Vol. 43, Issue 1, pp 179–196, 2018, DOI: 10.1007/s10514-018-9722-9
  8. Pietro Falco, Abdallah Attawia, Matteo Saveriano, and Dongheui Lee, On Policy Learning Robust to Irreversible Events: an Application to Robotic In-Hand Manipulation, IEEE Robotics and Automation Letters (RA-L), Vol. 3 , No. 3, pp 1482-1489, 2018, DOI: 10.1109/LRA.2018.2800110 (invited for presentation at ICRA 2018)
  9. Bastian Deutschmann, Tong Liu, Alexander Dietrich, Christian Ott, and Dongheui Lee, A Method to Identify the Nonlinear Stiffness Characteristics of an Elastic Continuum Mechanism, IEEE Robotics and Automation Letters (RA-L), 3 (3), 1450-1457, 2018, DOI: 10.1109/LRA.2018.2800098
  10. Leonel Rozo, Heni Ben Amor, Sylvain Calinon, Anca Dragan, and Dongheui Lee, Special Issue on robot learning for human-robot collaboration, Autonomous Robots (AURO), 2018, DOI: 10.1007/s10514-018-9756-z 
  11. Affan Pervez and Dongheui Lee, Learning Task Parameterized Dynamic Movement Primitives using mixture of GMMs, Intelligent Service Robotics, Springer, 11(1), 61-78, 2017, DOI: 10.1007/s11370-017-0235-8
  12. Silvia Rossi and Dongheui Lee, Special Issue on User Profiling and Behavior Adaptation for Human-Robot Interaction, Pattern Recognition Letters, Vol. 99, pp. 1-2, 2017, DOI:10.1016/j.patrec.2017.06.020
  13. Shile Li and Dongheui Lee, RGB-D SLAM in Dynamic Environments using Static Point Weighting, IEEE Robotics and Automation Letters (RA-L), vol. 2, No. 4, pp. 2263-2270, 2017 (invited for presentation at IROS 2017)
  14. Dongheui Lee, Raffaele Soloperto, and Matteo Saveriano, Bidirectional Invariant Representation of Rigid Body Motions and its Application to Gesture Recognition and Reproduction, Autonomous Robots (AURO), 42(1), 125-145, 2017 (link
  15. Matteo Saveriano, Fabian Hirt and Dongheui Lee, Humane-aware motion planning using dynamical systems, Pattern Recognition Letters, 99, 96-104, 2017
  16. Pietro Falco, Matteo Saveriano, Eka Gibran Hasany, Nicholas Kirk, and Dongheui Lee, A Human Action Descriptor based on Motion Coordination, IEEE Robotics and Automation Letters (RA-L), vol. 2, No. 2, pp. 811-818, 2017 (invited for presentation at ICRA 2017)
  17. Kai Hu, Christian Ott, and Dongheui Lee, Iterative Learning and Generalization of Compensative Zero-Moment Point Trajectory for Biped Walking, IEEE Transactions on Robotics (TRO), vol 32, No. 3, pp. 717-725, 2016 
  18. Vasiliki Koropouli, Azwirman Gusrialdi, Sandra Hirche, and Dongheui Lee, An extremum-seeking control approach for constrained robotic motion tasks, Control Engineering Practice, vol 52, pp. 1-14, 2016 
  19. Shile Li and Dongheui Lee, Fast Visual Odometry using Intensity assisted Iterative Closest Point, IEEE Robotics and Automation Letters (RA-L), vol. 1, No. 2, pp. 992-999, 2016 (invited for presentation at ICRA 2016)
  20. Vasiliki Koropouli, Sandra Hirche, and Dongheui Lee, Generalization of Force Control Policies from Demonstrations for Constrained Robotic Motion Tasks, Journal of Intelligent and Robotic Systems, pp. 1-16, 2015
  21. Dongheui Lee and Yoshihiko Nakamura , Motion Recognition and Recovery from Occluded Monocular Observations , Robotics and Autonomous Systems , 62(6), 818-832, (2014).
  22. S. Koo, Dongheui Lee and D. Kwon , Incremental object modeling and robust tracking of multiple objects from RGB-D point set data , Journal of Visual Communication and Image Representation, Special Issue on Visual Understanding and Applications with RGB-D Cameras , 25(1), pp. 108–121, (2013). 
  23. Kai Hu and Dongheui Lee , Prediction-based Synchronized Human Walking Motion Imitation by a Humanoid Robot , at - Automatisierungstechnik, Special Issue on Regelung von Laufrobotern , 60(2012) , no. 11 , 705-714 . 
  24. Dana Kulic, Christian Ott, Dongheui Lee, Junichi Ishikawa and Yoshihiko Nakamura , Incremental Learning of Full Body Motion Primitives and their Sequencing through Human Motion Observation , The International Journal of Robotics Research , 31 (2012) , no. 3 , 330-345 . 
  25. Dongheui Lee and Christian Ott , Incremental Kinesthetic Teaching of Motion Primitives Using the Motion Refinement Tube , Autonomous Robots , 31 (2011) , no. 2 , 115-131 . 
  26. Dongheui Lee, Christian Ott, Yoshihiko Nakamura , Mimetic Communication Model with Compliant Physical Contact in Human-Humanoid Interaction , The International Journal of Robotics Research ,29 (2010) , no. 13 , 1684–1704 . 
  27. Dongheui Lee and Yoshihiko Nakamura , Mimesis Model from Partial Observations for a Humanoid Robot , The International Journal of Robotics Research , 29 (2010) , no. 1 , 60-80 . 
  28. Dongheui Lee and Woojin Chung , Discrete Status based Localization for Indoor Service Robots , IEEE Transactions on Industrial Electronics , 53 (2006) , no. 5 , 1737-1746 . 
  29. Tae-Seok Jin, Dongheui Lee, and Jang-Myung Lee , Position Improvement of a Human-following Mobile Robot Using Image Information of Walking Human , Journal of Control, Automation, and Systems Engineering (ICASE) Special Issue - Machine vision , (2005) , (in Korean) .
  30. Woojin Chung, Dongheui Lee, and Chang-Hyuk Choi , Laser Distance Sensor Application to Control of Mobile Robot , Journal of Control, Automation, and Systems Engineering (ICASE Magazine) , 8(2002) , no. 5 , 17-22 , (in Korean) .

Conference papers

  1. Linlin Yang, Shile Li, Dongheui Lee and Angela Yao , Aligning Latent Spaces for 3D Hand Pose Estimation, International Conference on Computer Vision (ICCV), 2019  (accepted)
  2. Matteo Saveriano, and Dongheui Lee, Learning Barrier Functions for Constrained Motion Planning with Dynamical Systems, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019 (accepted)
  3. Shile Li and Dongheui Lee, Point-to-Pose Voting based Hand Pose Estimation using Residual Permutation Equivariant Layer, IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), 2019 link
  4. Thomas Eiband, Matteo Saveriano and Dongheui Lee, Learning Haptic Exploration Schemes for Adaptive Task Execution, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 7048-7054,  2019
  5. Matteo Saveriano, Felix Franzel and Dongheui Lee, Merging Position and Orientation Motion Primitives, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 7041-7047,  2019
  6. Matteo Saveriano, Michael Seegerer, Riccardo Caccavale, Alberto Finzi and Dongheui Lee, Symbolic Task Compression in Structured Task Learning, in Proc. IEEE International Conference on Robotic Computing (IRC), 2019 
  7. Zied Tayeb, Philipp Jakovleski, Zhong Chen, Jannick Lippert, Pablo Lanillos Pradas, Dongheui Lee and Gordon Cheng, Enabling the sense of touch and hand gesture decoding using vibrotactile stimulation and EMG signal for prosthetic hands control, in the 9th International IEEE EMBS Neural Engineering Conference (NER), 2019
  8. Affan Pervez, Hiba Latifee, Jee-Hwan Ryu, and Dongheui Lee, Human-Agent Shared Teleoperation: A Case Study Utilizing Haptic Feedback, In: Kajimoto H., Lee D., Kim SY., Konyo M., Kyung KU. (eds) Haptic Interaction. AsiaHaptics 2018. Lecture Notes in Electrical Engineering, vol 535. Springer, pp. pp 247-251, 2018. DOI: 10.1007/978-981-13-3194-7_56 link 
  9. Karna Potwar, Leif Johannsen1, Matteo Saveriano, Martin Langer, and Dongheui Lee, Light touch postural guidance through a robotic system, AsiaHaptics, 2018
  10. Shile Li, Jan Woehlke and Dongheui Lee, Model-based Hand Pose Estimation for Generalized Hand Shape with Spatial Transformer Network, European Conference on Computer Vision (ECCV), 4th International Workshop on Observing and Understanding Hands in Action (HANDS2018), 2018 
  11. Matteo Saveriano and Dongheui Lee, Incremental Skill Learning of Stable Dynamical Systems, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018
  12. Shanxin Yuan, Guillermo Garcia-Hernando, Bjorn Stenger, Tae-Kyun Kim, Gyeongsik Moon, Ju Yong Chang, Kyoung Mu Lee, Pavlo Molchanov, Liuhao Ge, Junsong Yuan, Xinghao Chen, Guijin Wang, Fan Yang, Kai Akiyama, Yang Wu, Qingfu Wan, Meysam Madadi, Sergio Escalera, Shile Li , Dongheui Lee, Iason Oikonomidis , and Antonis Argyros, 3D Hand Pose Estimation: From Current Achievements to Future Goals, IEEE International Conference on Computer Vision and Pattern Recognition (CVPR), pp. 2636-2645, 2018 
  13. Affan Pervez, Yuecheng Mao and Dongheui Lee, Learning Deep Movement Primitives using Convolutional Neural Networks, IEEE International Conference on Humanoid Robots (HUMANOIDS), pp. 191-197, 2017 
  14. Matteo Saveriano, Yuchao Yin, Pietro Falco, and Dongheui Lee, Learning Control Policies using a Simplified Robot Model, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4709-4715, 2017
  15. Riccardo Caccavale, Matteo Saveriano, Giuseppe Andrea Fontanelli, Fanny Ficuciello, Dongheui Lee and Alberto Finzi, Imitation Learning and Attentional Supervision of Dual-Arm Structured Tasks, IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EPIROB), pp. 66-71, 2017 
  16. Affan Pervez, Arslan Ali, Jee-Hwan Ryu and Dongheui Lee, Novel Learning fom Demonstration Approach for Repetitive Teleopearation Tasks, IEEE World Haptics, pp. 60-65, 2017
  17. Caroline Blocher, Matteo Saveriano, and Dongheui Lee, Learning Stable Dynamical Systems using Contraction Theory, the 14th international conference on ubiquitous robots and ambient intelligence (URAI), pp. 124-129, 2017. Outstanding Paper Award
  18. Pietro Falco, Lu Shuang, Andrea Cirillo, Ciro Natale, Salvatore Pirozzi and Dongheui Lee, Cross-modal Visuo-Tactile Object Recognition Using Robotic Active Exploration, in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2017 
  19. Riccardo Caccavale, Alberto Finzi, Dongheui Lee and Matteo Saveriano, Integrated Task Learning and Kinesthetic Teaching for Human-Robot Cooperation, Italian Workshop on Arti cial Intelligence and Robotics (AIRO), 2016
  20. Dharmil Shah, Pietro Falco, Matteo Saveriano and Dongheui Lee, Encoding Human Actions with a Frequency Domain Approach, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5304-5311, 2016 
  21. Dongheui Lee, Incremental Robot Skill Learning by Human Motion Retargetting and Physical Human Guidance, the 12th international conference on ubiquitous robots and ambient intelligence (URAI), pp. 585-586, 2015 
  22. Affan Pervez and Dongheui Lee, A Component-wise Simulated Annealing EM Algorithm for Mixtures,  In: Goebel, Tanaka, Wahlster (Ed), KI 2015: Advances in Artificial Intelligence, 38th German Conference on Artificial Intelligence (KI), Lecture Notes in Artificial Intelligence, Springer, pp. 287-294, 2015. DOI 978-3-319-24489-1_25
  23. Shile Li, Seongyong Koo and Dongheui Lee, Real-time and Model-free Object Tracking using Particle Filter with Joint Color-Spatial Descriptor, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6079-6085, 2015
  24. Alexander Werner, Dietrich Trautmann, Dongheui Lee and Roberto Lampariello, Generalization of Optimal Motion Trajectories for Bipedal Walking, in Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 1571-1577, 2015
  25. Vasiliki Koropouli, Azwirman Gusrialdi and Dongheui Lee ,An adaptive dynamic inversion-extremum seeking control approach for constrained robotic motion tasks, European Control Conference (ECC), 2015
  26. Sangik An and Dongheui Lee, Prioritized Inverse Kinematics with Multiple Task Definitions, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 1423-1430, 2015
  27. Matteo Saveriano, Sangik An and Dongheui Lee, Incremental Kinesthetic Teaching of End-Effector and Null-Space Motion Primitives, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 3570-3575, 2015
  28. Kai Hu, Christian Ott, and Dongheui Lee, Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 5127-5133, 2015
  29. Raffaele Soloperto, Matteo Saveriano and Dongheui Lee, A Bidirectional Invariant Representation of Motion for Gesture Recognition and Reproduction, in Proc. IEEE International Conference on Robotics and Automation (ICRA), pp. 6146-6152, 2015
  30. Matteo Saveriano and Dongheui Lee, Learning Motion and Impedance Behaviors from Human Demonstrations, the 11th international conference on ubiquitous robots and ambient intelligence (URAI), 2014
  31. Matteo Saveriano and Dongheui Lee, Safe Motion Generation and Online Reshaping using Dynamical Systems, the 11th international conference on ubiquitous robots and ambient intelligence (URAI), 2014 (video submission).  Best Poster/Video Presentation Award
  32. Seongyong Koo, Dongheui Lee, and Dong-Soo Kwon, “Unsupervised object individuation from RGB-D image sequences”, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4450-4457, 2014.
  33. Vasiliki Koropouli, Azwirman Gusrialdi and Dongheui Lee, ESC-MRAC of MIMO Systems for Constrained Robotic Motion Tasks in Deformable Environments, European Control Conference (ECC), pp. 2109-2114, 2014 
  34. Vito Magnanimo, Matteo Saveriano, Silvia Rossi and Dongheui Lee, A Bayesian Approach for Task Recognition and Future Human Activity Prediction, Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , pp. 726-731, 2014 , Nomination for the Kazuo Tanie Award
  35. Sven Parusel, Hannes Widmoser, Saskia Golz, Tobias Ende, Nico Blodow, Matteo Saveriano, Alexis Maldonado, Ingo Kresse, Roman Weitschat, Dongheui Lee, Michael Beetz, Alin Albu-Sch¨affer, and Sami Haddadin, Human-Robot Interaction Planning, the 28th AAAI Conference on Artificial Intelligence (AAAI), 2014. Nomination for Best Robot Video Award
  36. Jie Liu, Matteo Saveriano and Dongheui Lee, Robot Compliant Behavior through Reinforcement Learning, 7th International Workshop on Human-Friendly Robotics, 2014
  37. S. An, Dongheui Lee , Prioritized Inverse Kinematics using QR and Cholesky Decompositions , IEEE International Conference on Robotics and Automation (ICRA) , pp. 5062-5069, 2014 .
  38. Matteo Saveriano and Dongheui Lee , Distance based Dynamical System Modulation for Reactive Avoidance of Moving Obstacles , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , pp. 5618-5623, 2014 .
  39. Kai Hu, C. Ott, Dongheui Lee , Online Human Walking Imitation in Task and Joint Space based on Quadratic Programming , IEEE Int. Conf. on Robotics and Automation (ICRA) , pp. 3458-3464, 2014 .
  40. S. Koo, Dongheui Lee, D. Kwon , GMM-based 3D Object Representation and Robust Tracking in Unconstructed Dynamic Environments , IEEE International Conference on Robotics and Automation (ICRA) , 2013 , p. 1106-1113 .
  41. W. Wang, V. Koropouli, Dongheui Lee, K. Kühnlenz , Articulated Object Modeling Based on Visual and Haptic Observations , 2013 International Conference on Computer Vision Theory and Applications , 2013 , p. 253-259 . 
  42. Matteo Saveriano, Dongheui Lee , Invariant Representation for User Independent Motion Recognition , Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2013 , p. 650-655 . 
  43. Matteo Saveriano, Dongheui Lee , Invariant Representation of Motion for Gesture Recognition in Daily Life Scenarios , 6th International Workshop on Human-Friendly Robotics , 2013 . 
  44. Seongyong Koo, Dongheui Lee and Dong-Soo Kwon , Multiple Object Tracking Using an RGB-D Camera by Hierarchical Spatiotemporal Data Association , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2013 , p. 1113-1118 .
  45. Christian Ott, Bernd Henze, and Dongheui Lee , Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2013 , p. 4615-4621 .
  46. Matteo Saveriano, Dongheui Lee , Point Cloud based Dynamical System Modulation for Reactive Avoidance of Convex and Concave Obstacles , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2013 , p. 5380-5387 . 
  47. Matteo Saveriano, Dongheui Lee , Distance based Dynamical System Modulation for Reactive Collision Avoidance , DGR-Tage (DGR-days) , 2013 . 
  48. Kai Hu, Christian Ott and Dongheui Lee , Human Walking Imitation based on Quadratic Programming , 3rd German Robotics Society Days (DGR-Tage) , 2013 .
  49. J.R. Medina Hernández, Dongheui Lee, S. Hirche , Risk-Sensitive Optimal Feedback Control for Haptic Assistance , IEEE International Conference on Robotics and Automation (ICRA) , 2012 . 
  50. M. Lawitzky, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Feedback Motion Planning and Learning from Demonstration in Physical Robotic Assistance: Differences and Synergies , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 . 
  51. J.R. Medina Hernández, T. Lorenz, Dongheui Lee, S. Hirche , Disagreement-Aware Physical Assistance Through Risk-Sensitive Optimal Feedback Control , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 . 
  52. J.R. Medina Hernández, M. Shelley, Dongheui Lee, W. Takano, S. Hirche , Towards Interactive Physical Robotic Assistance: Parameterizing Motion Primitives Through Natural Language , 21st IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2012 .
  53. T. Nierhoff, L. Lou, V. Koropouli, M. Eggers, T. Fritzsch, O. Kourakos, K. Kühnlenz, Dongheui Lee, B. Radig, M. Buss, S. Hirche , Tire Mounting on a Car Using the Real-Time Control Architecture ARCADE , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 4804-4805 . 
  54. Kai Hu, Dongheui Lee , Bipedal Locomotion Primitive Learning, Control and Prediction from Human Data , 10th International Symposium on Robot Control (SYROCO) , 2012 .
  55. V. Koropouli, S. Hirche, Dongheui Lee , Learning and generalizing force control policies for sculpting, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 . 
  56. Licong Zhang, Juergen Sturm, Daniel Cremers, Dongheui Lee , Real-time Human Motion Tracking using Multiple Depth Cameras , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 2389-2395 .
  57. Z. Liu, Dongheui Lee, W. Sepp , Particle Filter Based Monocular Human Tracking with a 3D Cardbox Model and a Novel Deterministic Resampling Strategy , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 3626-3631 . 
  58. J.R. Medina Hernández, M. Lawitzky, A. Mörtl, Dongheui Lee, S. Hirche , An Experience-Driven Robotic Assistant Acquiring Human Knowledge to Improve Haptic Cooperation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 . 
  59. V. Koropouli, Dongheui Lee, and S. Hirche , Learning interaction control policies by demonstration , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 344-349 .
  60. A. M. Schmidts, Dongheui Lee, and A. Peer , Imitation Learning of Human Grasping Skills from Motion and Force Data , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 1002- 1007 . 
  61. Dongheui Lee, Christian Ott, Yoshihiko Nakamura and Gerd Hirzinger , Physical Human Robot Interation in Imitation Learning , International Conference on Robotics and Automation (ICRA) , 2011, (video submission) .
  62. Christian Ott, Ch. Baumgartner, J. Mayr, M. Fuchs, R. Burger, Dongheui Lee, O. Eiberger, Alin Albu-Schaffer, M. Grebenstein, and G. Hirzinger , Development of a Biped Robot with Torque Controlled Joints , IEEE International Conference on Humanoid Robots , 2010 , p. 167-173 . 
  63. Dongheui Lee and Christian Ott , Incremental Motion Primitive Learning by Physical Coaching Using Impedance Control , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2010 , p. 4133-4140 . 
  64. Dongheui Lee and Christian Ott , Iterative Motion Primitive Learning and Refinement by Complaint Motion Control , IEEE International Conference on Humanoid Robots (HUMANOIDS) workshop Humanoid Robots Learning from Human Interaction , 2010 .
  65. Hirotoshi Kunori, Dongheui Lee and Yoshihiko Nakamura , Associating and Reshaping of Whole Body Motions for Object Manipulation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2009 , p. 5240-5247 . 
  66. Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Mimetic Communication with Impedance Control for Physical Human-Robot Interaction , IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 1535-1542 , Finalist for the KUKA Service Robotics Best Paper Award
  67. Dana Kulic, Dongheui Lee and Yoshihiko Nakamura , Whole Body Motion Primitive Segmentation from Monocular Video , IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 3166-3172 . 
  68. Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Mimetic Communication for Physical Human-Robot Interaction - Part II: Interaction Learning , the 14th Robotics Symposia , 2009 , p. 386-392 , (in Japanese) .
  69. Christian Ott, Dongheui Lee and Yoshihiko Nakamura , Mimetic Communication for Physical Human-Robot Interaction - Part I: Control , the 14th Robotics Symposia , 2009 , p. 132-139 , (in Japanese) .
  70. Hirotoshi Kunori, Dongheui Lee and Yoshihiko Nakamura , Association of Humanoid Whole Body Motion with Knowledge of Tools , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2008 , p. 2A1-E22 , (in Japanese) .
  71. Dongheui Lee, Dana Kulic and Yoshihiko Nakamura , Whole Motion Recovery from Partial Observation Data using Factorial Hidden Markov Models , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2008 , p. 1P1-G20 , (in Japanese) .
  72. Dana Kulic, Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Control System Study at IRT Research Initiative of University of Tokyo - Incremental Learning of Whole Body Motion Primitives of Humans , the 26th Annual Conference of the Robotics Society of Japan (RSJ) , 2008 , p. 3F3-02 , (in Japanese) .
  73. Dongheui Lee, Dana Kulic and Yoshihiko Nakamura , Missing Motion Data Recovery using Factorial Hidden Markov Models , IEEE International Conference on Robotics and Automation (ICRA) , 2008 , p. 1722-1728 . 
  74. Dongheui Lee, Hirotoshi Kunori and Yoshihiko Nakamura , Association of Whole Body Motion from Tool Knowledge for Humanoid Robots , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2008 , p. 2867-2874 . 
  75. Dana Kulic, Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Incremental Learning of Full Body Motion Primitives for Humanoid Robots , IEEE International Conference on Humanoid Robots , 2008 , p. 326-332 . 
  76. Christian Ott, Dongheui Lee and Yoshihiko Nakamura , Motion Capture based Human Motion Recognition and Imitation by Direct Marker Control , IEEE International Conference on Humanoid Robots , 2008 , p. 399-405 . 
  77. Dongheui Lee and Yoshihiko Nakamura , Human Motion Understanding from 2D Partial Observation of Vector Field based on Particle Filter , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2007 , p. 1A2-M07 , (in Japanese) .
  78. Dongheui Lee and Yoshihiko Nakamura , Stochastic Theory for Motion Capturing from Onboard Monocular Vision of Humanoid Robots , the 12th Robotics Symposia , 2007 , p. 424-429 .
  79. Dongheui Lee and Yoshihiko Nakamura , Mimesis Scheme using a Monocular Vision System on a Humanoid , 2007 IEEE International Conference on Robotics and Automation (ICRA'07) , 2007 , p. 2162-2168 . 
  80. Dongheui Lee and Yoshihiko Nakamura , Motion Capturing from Monocular Vision by Statistical Inference Based on Motion Database: Vector Field Approach , 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07) , 2007 , p. 617-623 . 
  81. Dongheui Lee and Yoshihiko Nakamura , Probabilistic Mimesis Model: Recognition and Generation from Partial Observations , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2006 , p. 1P1-E11 , (in Japanese) .
  82. Dongheui Lee and Yoshihiko Nakamura , Relaxed Viterbi Training: Fast and Reliable Symbol Acquisition of Mimesis Model , the 24th Annual Conference of the Robotics Society of Japan (RSJ) , 2006 , p. 2D22 .
  83. Dongheui Lee and Yoshihiko Nakamura , Motion Recognition with a Monocular Vision System Based on Mimesis Scheme , the 24th Annual Conference of the Robotics Society of Japan (RSJ) , 2006 , p. 1M23 , (in Japanese) .
  84. Dongheui Lee and Yoshihiko Nakamura , Stochastic Model of Imitating a New Observed Motion Based on the Acquired Motion Primitives , 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06) , 2006 , p. 4994-5000 . 
  85. Dongheui Lee and Yoshihiko Nakamura , Probabilistic Model of Whole-body Motion Imitation from Partial Observations , The 12th International Conference on Advanced Robotics (ICAR'05) , 2005 , p. 337-343 . Academic Research Activities Supporting Grant Award
  86. Dongheui Lee and Woojin Chung , Dependable Localization Strategy in Dynamic Real Environments , 2005 IEEE/RSJ International Conference on Intelligent Robots And Systems (IROS'05) , 2005 , p. 860-865 . 
  87. Dongheui Lee and Yoshihiko Nakamura , Mimesis from Partial Observations , 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05) , 2005 , p. 1911-1916 . 
  88. Dongheui Lee, Woojin Chung, and Munsang Kim , Integrated Localizaton of the Service Robot PSR, 2004 IEEE International Conference on Robotics & Automation (ICRA'04) , 2004 , p. 4017-4022 . 
  89. Dongheui Lee, Woojin Chung, and Munsang Kim , A Reliable Position Estimation method of the Service Robot by Map Matching , 2003 IEEE International Conference on Robotics & Automation (ICRA'03) , 2003 , p. 2830-2835 . 
  90. Dongheui Lee, Woojin Chung, and Munsang Kim , Autonomous Map Building and Smart Localization of the Service Robot PSR , 2003 IEEE/RSJ International Conference on Intelligent Robots And Systems (IROS'03) , 2003 , p. 454-459, . 
  91. Dongheui Lee, Woojin Chung, and Munsang Kim , Experimental Research of the Map Building and Localization at Human Co-existing Real Environments , International Conference on Control, Automation and Systems (ICCAS) , 2003 , p. 1184-1189 .
  92. Dongheui Lee, Woojin Chung, and Munsang Kim , Probabilistic Localization of the Service Robot by Map Matching Algorithm , International Conference on Control, Automation and Systems (ICCAS) , 2002 , p. 1667-1627 .
  93. Woojin Chung, Dongheui Lee, Changjoo Lee, Gunhee Kim, Hyungjin Lee, Kihwan Kim, Munsang Kim, and Chongwon Lee , Development of The Public Service Robot PSR-1 , Proc. of 2001 Service Robot Workshop , 2001 , p. 14-19 .

Posters

 

  1. M. Lawitzky, A. Mörtl, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Enhancing Physical Human-Robot Cooperation Through Behavior Anticipation and Interactive Planning , Proc. 5th International Conference on Cognitive Systems (CogSys) , 2012 . 
  2. A. Mörtl, M. Lawitzky, J.R. Medina Hernandez, Dongheui Lee, S. Hirche , Design Concepts for Physical Human-Robot Cooperation , IROS Workshop on Learning and Interaction in Haptic Robots, 2012 . 

 

Thesis

  1. Statistical Mimesis from Partial Observation and its Application to Humanoid Robots, 2007 , PhD dissertation, The University of Tokyo.
  2. Range Sensor Based Localization of the Mobile Service Robot in Office Environments , 2003 , MS dissertation, Kyung Hee University.