Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-Like Robot. - Max Schwarz; Marius Beul; David Droeschel; Sebastian Schüller; Arul Selvam Periyasamy; Christian Lenz; Michael Schreiber; Sven Behnke (Frontiers Robotics AI, 2016)

NimbRo picking: Versatile part handling for warehouse automation. - Max Schwarz; Anton Milan; Christian Lenz; Aura Munoz; Arul Selvam Periyasamy; Michael Schreiber; Sebastian Schüller; Sven Behnke (ICRA, 2017)

Autonomous Dual-Arm Manipulation of Familiar Objects. - Dmytro Pavlichenko; Diego Rodriguez; Max Schwarz; Christian Lenz; Arul Selvam Periyasamy; Sven Behnke (Humanoids, 2018)

Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing. - Max Schwarz; Christian Lenz; Germán Martín García; Seongyong Koo; Arul Selvam Periyasamy; Michael Schreiber; Sven Behnke (ICRA, 2018)

Robust 6D Object Pose Estimation in Cluttered Scenes Using Semantic Segmentation and Pose Regression Networks. - Arul Selvam Periyasamy; Max Schwarz; Sven Behnke (IROS, 2018)

RGB-D object detection and semantic segmentation for autonomous manipulation in clutter. - Max Schwarz; Anton Milan; Arul Selvam Periyasamy; Sven Behnke (Int. J. Robotics Res., 2018)

Refining 6D Object Pose Predictions using Abstract Render-and-Compare. - Arul Selvam Periyasamy; Max Schwarz; Sven Behnke (Humanoids, 2019)

Team NimbRo at MBZIRC 2017: Autonomous valve stem turning using a wrench. - Max Schwarz; David Droeschel; Christian Lenz; Arul Selvam Periyasamy; En Yen Puang; Jan Razlaw; Diego Rodriguez; Sebastian Schüller; Michael Schreiber; Sven Behnke (J. Field Robotics, 2019)

ConvPoseCNN2: Prediction and Refinement of Dense 6D Object Pose. - Arul Selvam Periyasamy; Catherine Capellen; Max Schwarz; Sven Behnke (VISIGRAPP (Revised Selected Papers), 2020)

Autonomous Wall Building with a UGV- UAV Team at MBZIRC 2020. - Christian Lenz; Max Schwarz; Andre Rochow; Jan Razlaw; Arul Selvam Periyasamy; Michael Schreiber; Sven Behnke (SSRR, 2020)

Remote mobile manipulation with the centauro robot: Full-body telepresence and autonomous operator assistance. - Tobias Klamt; Max Schwarz; Christian Lenz; Lorenzo Baccelliere; Domenico Buongiorno; Torben Cichon; Antonio Di Guardo; David Droeschel; Massimiliano Gabardi; Malgorzata Kamedula; Navvab Kashiri; Arturo Laurenzi; et al. (J. Field Robotics, 2020)

SynPick: A Dataset for Dynamic Bin Picking Scene Understanding. - Arul Selvam Periyasamy; Max Schwarz; Sven Behnke (CASE, 2021)

T6D-Direct: Transformers for Multi-object 6D Pose Direct Regression. - Arash Amini; Arul Selvam Periyasamy; Sven Behnke (GCPR, 2021)

Team NimbRo's UGV Solution for Autonomous Wall Building and Fire Fighting at MBZIRC 2020. - Christian Lenz; Jan Quenzel; Arul Selvam Periyasamy; Jan Razlaw; Andre Rochow; Malte Splietker; Michael Schreiber; Max Schwarz; Finn Süberkrüb; Sven Behnke (CoRR, 2021)

YOLOPose: Transformer-Based Multi-object 6D Pose Estimation Using Keypoint Regression. - Arash Amini; Arul Selvam Periyasamy; Sven Behnke (IAS, 2022)

Learning Implicit Probability Distribution Functions for Symmetric Orientation Estimation from RGB Images Without Pose Labels. - Arul Selvam Periyasamy; Luis Denninger; Sven Behnke (IRC, 2022)

Iterative 3D Deformable Registration from Single-view RGB Images using Differentiable Rendering. - Arul Selvam Periyasamy; Max Schwarz; Sven Behnke (VISIGRAPP (5: VISAPP), 2022)

ConvPoseCNN2: Prediction and Refinement of Dense 6D Object Poses. - Arul Selvam Periyasamy; Catherine Capellen; Max Schwarz; Sven Behnke (CoRR, 2022)

Autonomous Wall-building and Firefighting: Team NimbRo's UGV Solution for MBZIRC 2020. - Christian Lenz; Jan Quenzel; Arul Selvam Periyasamy; Jan Razlaw; Andre Rochow; Malte Splietker; Michael Schreiber; Max Schwarz; Finn Süberkrüb; Sven Behnke (Field Robotics, 2022)

Efficient Multi-Object Pose Estimation Using Multi-Resolution Deformable Attention and Query Aggregation. - Arul Selvam Periyasamy; Vladimir Tsaturyan; Sven Behnke (IRC, 2023)

Towards 3D Scene Understanding Using Differentiable Rendering. - Arul Selvam Periyasamy; Sven Behnke (SN Comput. Sci., 2023)

YOLOPose V2: Understanding and improving transformer-based 6D pose estimation. - Arul Selvam Periyasamy; Arash Amini; Vladimir Tsaturyan; Sven Behnke (Robotics Auton. Syst., 2023)

MOTPose: Multi-object 6D Pose Estimation for Dynamic Video Sequences using Attention-based Temporal Fusion. - Arul Selvam Periyasamy; Sven Behnke (ICRA, 2024)