Markus Knauer

CV & Publications

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Publications

Organized by year, newest first. Papers where I’m first author are highlighted, and recent significant contributions are marked with a 🚀 rocket. Titles link to the related project.

Selected

2026

  • A Framework for Seamless Physical, Verbal, and Graphical Robot Skill Learning and Adaptation

    Knauer, M., Fiorini, E., Mühlbauer, M., Schneyer, S., Angsuratanawech, P., Lay, F.S., Bachmann, T., Bustamante, S., Nottensteiner, K., Stulp, F., Albu-Schäffer, A., Silvério, J., Eiband, T.

    IEEE Robotics and Automation Practice (RA-P), 2026

    DOI arXiv

    BibTeX
    @article{knauer2026a,
  title     = {A Framework for Seamless Physical, Verbal, and Graphical Robot Skill Learning and Adaptation},
  author    = {Knauer, M. and Fiorini, E. and Mühlbauer, M. and Schneyer, S. and Angsuratanawech, P. and Lay, F.S. and Bachmann, T. and Bustamante, S. and Nottensteiner, K. and Stulp, F. and Albu-Schäffer, A. and Silvério, J. and Eiband, T.},
  journal   = {IEEE Robotics and Automation Practice (RA-P)},
  year      = {2026},
  doi       = {10.1109/RAP.2026.3724466},
  url       = {https://arxiv.org/abs/2604.20468}
}

  • IROSA: Interactive Robot Skill Adaptation Using Natural Language

    Knauer, M., Bustamante, S., Eiband, T., Albu-Schäffer, A., Stulp, F., Silvério, J.

    IEEE Robotics and Automation Letters (RA-L), 2026

    DOI arXiv

    BibTeX
    @article{knauer2026irosa,
  title     = {IROSA: Interactive Robot Skill Adaptation Using Natural Language},
  author    = {Knauer, M. and Bustamante, S. and Eiband, T. and Albu-Schäffer, A. and Stulp, F. and Silvério, J.},
  journal   = {IEEE Robotics and Automation Letters (RA-L)},
  year      = {2026},
  doi       = {10.1109/LRA.2026.3671560},
  url       = {https://arxiv.org/abs/2603.03897}
}

  • Natural Language-Driven Robot Skill Selection and Composition using Task-Parameterized Learning (CLASP)

    Knauer, M., Gieraths, V., Mai, T., Bustamante, S., Albu-Schäffer, A., Stulp, F., Silvério, J.

    arXiv preprint, 2026

    arXiv

    BibTeX
    @misc{knauer2026natural,
  title     = {Natural Language-Driven Robot Skill Selection and Composition using Task-Parameterized Learning (CLASP)},
  author    = {Knauer, M. and Gieraths, V. and Mai, T. and Bustamante, S. and Albu-Schäffer, A. and Stulp, F. and Silvério, J.},
  howpublished = {arXiv preprint},
  year      = {2026},
  url       = {https://arxiv.org/abs/2606.08169}
}

2025

  • Interactive incremental learning of generalizable skills with local trajectory modulation

    Knauer, M., Albu-Schäffer, A., Stulp, F., Silvério, J.

    IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 4, pp. 3398–3405, 2025

    DOI arXiv DLR elib

    BibTeX
    @article{knauer2025interactive,
  title     = {Interactive incremental learning of generalizable skills with local trajectory modulation},
  author    = {Knauer, M. and Albu-Schäffer, A. and Stulp, F. and Silvério, J.},
  journal   = {IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 4, pp. 3398–3405},
  year      = {2025},
  doi       = {10.1109/LRA.2025.3542209},
  url       = {https://arxiv.org/abs/2409.05655}
}

  • Grounding Embodied Question-Answering with State Summaries from Existing Robot Modules

    Bustamante, S., Knauer, M., Thun, J., Schneyer, S., Albu-Schäffer, A., Weber, B., Stulp, F.

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

    DOI DLR elib

    BibTeX
    @inproceedings{bustamante2025grounding,
  title     = {Grounding Embodied Question-Answering with State Summaries from Existing Robot Modules},
  author    = {Bustamante, S. and Knauer, M. and Thun, J. and Schneyer, S. and Albu-Schäffer, A. and Weber, B. and Stulp, F.},
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year      = {2025},
  doi       = {10.1109/ICRA55743.2025.11127843}
}

2024

  • Grounding Embodied Question-Answering with State Summaries from Existing Robot Modules

    Bustamante, S., Knauer, M., Thun, J., Schneyer, S., Weber, B., Stulp, F.

    Robotics: Science and Systems (RSS) Workshops, 2024

    DLR elib

    BibTeX
    @inproceedings{bustamante2024grounding,
  title     = {Grounding Embodied Question-Answering with State Summaries from Existing Robot Modules},
  author    = {Bustamante, S. and Knauer, M. and Thun, J. and Schneyer, S. and Weber, B. and Stulp, F.},
  booktitle = {Robotics: Science and Systems (RSS) Workshops},
  year      = {2024}
}

  • Human-intention-aware skill modulation using energy tanks for collaborative tasks

    Fiorini, E., Knauer, M., Silvério, J.

    Conference on Robot Learning (CoRL) Workshops, 2024

    PDF

    BibTeX
    @inproceedings{fiorini2024human,
  title     = {Human-intention-aware skill modulation using energy tanks for collaborative tasks},
  author    = {Fiorini, E. and Knauer, M. and Silvério, J.},
  booktitle = {Conference on Robot Learning (CoRL) Workshops},
  year      = {2024}
}

  • Interactive incremental imitation learning of generalizable skills with local trajectory modulation

    Knauer, M., Albu-Schäffer, A., Stulp, F., Silvério, J.

    Conference on Robot Learning (CoRL) Workshops, 2024

    PDF

    BibTeX
    @inproceedings{knauer2024interactive,
  title     = {Interactive incremental imitation learning of generalizable skills with local trajectory modulation},
  author    = {Knauer, M. and Albu-Schäffer, A. and Stulp, F. and Silvério, J.},
  booktitle = {Conference on Robot Learning (CoRL) Workshops},
  year      = {2024}
}

  • Intuitive Instruction of Robot Systems: Semantic Integration of Standardized Skill Interfaces

    Ding, J., Kessler, I., Perzylo, A., Knauer, M., Dömel, A., Willibald, C., Riedel, S., Profanderl, S., Brunner, S., Dunaev, A., Li, L., Brucker, M.

    IEEE International Conference on Industrial Informatics (INDIN), 2024

    DOI

    BibTeX
    @inproceedings{ding2024intuitive,
  title     = {Intuitive Instruction of Robot Systems: Semantic Integration of Standardized Skill Interfaces},
  author    = {Ding, J. and Kessler, I. and Perzylo, A. and Knauer, M. and Dömel, A. and Willibald, C. and Riedel, S. and Profanderl, S. and Brunner, S. and Dunaev, A. and Li, L. and Brucker, M.},
  booktitle = {IEEE International Conference on Industrial Informatics (INDIN)},
  year      = {2024},
  doi       = {10.1109/INDIN58382.2024.10774421}
}

2023

  • BlenderProc2: A Procedural Pipeline for Photorealistic Rendering

    Denninger, M., Winkelbauer, D., Sundermeyer, M., Boerdijk, W., Knauer, M., Strobl, K., Humt, M., Triebel, R.

    Journal of Open Source Software (JOSS), 2023

    PDF

    BibTeX
    @article{denninger2023blenderproc2,
  title     = {BlenderProc2: A Procedural Pipeline for Photorealistic Rendering},
  author    = {Denninger, M. and Winkelbauer, D. and Sundermeyer, M. and Boerdijk, W. and Knauer, M. and Strobl, K. and Humt, M. and Triebel, R.},
  journal   = {Journal of Open Source Software (JOSS)},
  year      = {2023}
}

2022

  • HOWS-CL-25: Household Objects Within Simulation Dataset for Continual Learning

    Knauer, M., Denninger, M., Triebel, R.

    Zenodo, 2022

    DOI

    BibTeX
    @inproceedings{knauer2022hows,
  title     = {HOWS-CL-25: Household Objects Within Simulation Dataset for Continual Learning},
  author    = {Knauer, M. and Denninger, M. and Triebel, R.},
  booktitle = {Zenodo},
  year      = {2022},
  doi       = {10.5281/zenodo.7189434}
}

  • RECALL: Rehearsal-free Continual Learning for Object Classification

    Knauer, M., Denninger, M., Triebel, R.

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

    DOI arXiv DLR elib

    BibTeX
    @inproceedings{knauer2022recall,
  title     = {RECALL: Rehearsal-free Continual Learning for Object Classification},
  author    = {Knauer, M. and Denninger, M. and Triebel, R.},
  booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year      = {2022},
  doi       = {10.1109/IROS47612.2022.9981968},
  url       = {https://arxiv.org/abs/2209.14774}
}

2020

  • BlenderProc: Reducing the Reality Gap with Photorealistic Rendering

    Denninger, M., Sundermeyer, M., Winkelbauer, D., Olefir, D., Hodan, T., Zidan Y., Elbadrawy, M., Knauer, M., Katam, H., Lodhi, A.

    Robotics: Science and Systems (RSS) Workshops, 2020

    DLR elib

    BibTeX
    @inproceedings{denninger2020blenderproc,
  title     = {BlenderProc: Reducing the Reality Gap with Photorealistic Rendering},
  author    = {Denninger, M. and Sundermeyer, M. and Winkelbauer, D. and Olefir, D. and Hodan, T. and Zidan Y. and Elbadrawy, M. and Knauer, M. and Katam, H. and Lodhi, A.},
  booktitle = {Robotics: Science and Systems (RSS) Workshops},
  year      = {2020}
}