Academic Publications - Markus Knauer Research Papers

Here are my academic publications in the field of robotics, AI, and computer vision, organized by year. Publications where I’m first author are highlighted, and recent significant contributions are marked with 🚀. Click a paper title to read the related project write-up.

2026 Link to heading

• 🚀 Knauer, M., Bustamante, S., Eiband, T., Albu-Schäffer, A., Stulp, F., Silvério, J. “IROSA: Interactive Robot Skill Adaptation Using Natural Language”, in IEEE Robotics and Automation Letters (RA-L) https://doi.org/10.1109/LRA.2026.3671560 🚀

• 🚀 Knauer, M., Gieraths, V., Mai, T., Bustamante, S., Albu-Schäffer, A., Stulp, F., Silvério, J. “Natural Language-Driven Robot Skill Selection and Composition using Task-Parameterized Learning (CLASP)”, arXiv preprint https://arxiv.org/abs/2606.08169 🚀

• 🚀 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. “MOMO: Seamless Physical, Verbal, and Graphical Robot Skill Adaptation”, arXiv preprint https://arxiv.org/abs/2604.20468 🚀

2025 Link to heading

• 🚀 Knauer, M., Albu-Schäffer, A., Stulp, F., Silvério, J. “Interactive incremental learning of generalizable skills with local trajectory modulation”, in IEEE Robotics and Automation Letters (RA-L), vol. 10, no. 4, pp. 3398-3405, April 2025 https://doi.org/10.1109/LRA.2025.3542209 🚀

• Bustamante, S., Knauer, M., Thun, J., Schneyer, S., Albu-Schäffer, A., Weber, B., Stulp, F. “Grounding Embodied Question-Answering with State Summaries from Existing Robot Modules” in 2025 IEEE International Conference on Robotics and Automation (ICRA) https://doi.org/10.1109/ICRA55743.2025.11127843

2024 Link to heading

• Knauer, M., Albu-Schäffer, A., Stulp, F., Silvério, J. “Interactive incremental imitation learning of generalizable skills with local trajectory modulation” in 2024 Conference on Robot Learning (CoRL) Workshops https://openreview.net/pdf?id=PAgssOgBB7

• Fiorini, E., Knauer, M., Silvério, J. „Human-intention-aware skill modulation using energy tanks for collaborative tasks" in 2024 Conference on Robot Learning (CoRL) Workshops https://openreview.net/pdf?id=3CUwlNKW36

• Ding, J., Kessler, I., Perzylo, A., Knauer, M., Dömel, A., Willibald, C., Riedel, S., Profanderl, S., Brunner, S., Dunaev, A., Li, L., Brucker, M. „Intuitive Instruction of Robot Systems: Semantic Integration of Standardized Skill Interfaces" in 2024 IEEE International Conference on Industrial Informatics (INDIN) https://doi.org/10.1109/INDIN58382.2024.10774421

• Bustamante, S., Knauer, M., Thun, J., Schneyer, S., Weber, B., Stulp, F. “Grounding Embodied Question-Answering with State Summaries from Existing Robot Modules” in 2024 Robotics: Science and Systems (RSS) Workshops https://elib.dlr.de/205203/

2023 Link to heading

• Denninger, M., Winkelbauer, D., Sundermeyer, M., Boerdijk, W., Knauer, M., Strobl, K., Humt, M., Triebel, R. “Blenderproc2: A procedural pipeline for photorealistic rendering” in 2023 Journal of Open Source Software (JOSS) https://joss.theoj.org/papers/10.21105/joss.04901

2022 Link to heading

• Knauer, M., Denninger, M., Triebel, R. “Recall: Rehearsal-free continual learning for object classification” in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) https://doi.org/10.1109/IROS47612.2022.9981968

• Knauer, M., Denninger, M., Triebel, R., “HOWS-CL-25: Household Objects Within Simulation Dataset for Continual Learning” in Zenodo https://doi.org/10.5281/zenodo.7189434

2020 Link to heading

• Denninger, M., Sundermeyer, M., Winkelbauer, D., Olefir, D., Hodan, T., Zidan Y., Elbadrawy, M., Knauer, M., Katam, H., Lodhi, A. “BlenderProc: Reducing the Reality Gap with Photorealistic Rendering” in 2020 Robotics: Science and Systems (RSS) Workshops https://elib.dlr.de/139317/