Imitation learning with generalized task descriptions. - Clemens Eppner; Jürgen Sturm; Maren Bennewitz; Cyrill Stachniss; Wolfram Burgard (ICRA, 2009)

The humanoid museum tour guide Robotinho. - Felix Faber; Maren Bennewitz; Clemens Eppner; Attila Görög; Christoph Gonsior; Dominik Joho; Michael Schreiber; Sven Behnke (RO-MAN, 2009)

Grasping unknown objects by exploiting shape adaptability and environmental constraints. - Clemens Eppner; Oliver Brock (IROS, 2013)

Planning grasp strategies That Exploit Environmental Constraints. - Clemens Eppner; Oliver Brock (ICRA, 2015)

A taxonomy of human grasping behavior suitable for transfer to robotic hands. - Fabian Heinemann; Steffen Puhlmann; Clemens Eppner; José Álvarez-Ruiz; Marianne Maertens; Oliver Brock (ICRA, 2015)

Exploitation of environmental constraints in human and robotic grasping. - Clemens Eppner; Raphael Deimel; José Álvarez-Ruiz; Marianne Maertens; Oliver Brock (Int. J. Robotics Res., 2015)

Combining model-based policy search with online model learning for control of physical humanoids. - Igor Mordatch; Nikhil Mishra; Clemens Eppner; Pieter Abbeel (ICRA, 2016)

Learning dexterous manipulation for a soft robotic hand from human demonstrations. - Abhishek Gupta 004; Clemens Eppner; Sergey Levine; Pieter Abbeel (IROS, 2016)

Probabilistic multi-class segmentation for the Amazon Picking Challenge. - Rico Jonschkowski; Clemens Eppner; Sebastian Höfer; Roberto Martin Martin; Oliver Brock (IROS, 2016)

Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration. - Abhishek Gupta 004; Clemens Eppner; Sergey Levine; Pieter Abbeel (CoRR, 2016)

Lessons from the Amazon Picking Challenge: Four Aspects of Building Robotic Systems. - Clemens Eppner; Sebastian Höfer; Rico Jonschkowski; Roberto Martín-Martín; Arne Sieverling; Vincent Wall; Oliver Brock (IJCAI, 2017)

Visual detection of opportunities to exploit contact in grasping using contextual multi-armed bandits. - Clemens Eppner; Oliver Brock (IROS, 2017)

Interleaving motion in contact and in free space for planning under uncertainty. - Arne Sieverling; Clemens Eppner; Felix Wolff; Oliver Brock (IROS, 2017)

Physics-Based Selection of Informative Actions for Interactive Perception. - Clemens Eppner; Roberto Martín-Martín; Oliver Brock (ICRA, 2018)

Four aspects of building robotic systems: lessons from the Amazon Picking Challenge 2015. - Clemens Eppner; Sebastian Höfer; Rico Jonschkowski; Roberto Martín-Martín; Arne Sieverling; Vincent Wall; Oliver Brock (Auton. Robots, 2018)

6-DOF GraspNet: Variational Grasp Generation for Object Manipulation. - Arsalan Mousavian; Clemens Eppner; Dieter Fox (ICCV, 2019)

Representing Robot Task Plans as Robust Logical-Dynamical Systems. - Chris Paxton 001; Nathan D. Ratliff; Clemens Eppner; Dieter Fox (IROS, 2019)

A Billion Ways to Grasp: An Evaluation of Grasp Sampling Schemes on a Dense, Physics-Based Grasp Data Set. - Clemens Eppner; Arsalan Mousavian; Dieter Fox (ISRR, 2019)

The RBO dataset of articulated objects and interactions. - Roberto Martín-Martín; Clemens Eppner; Oliver Brock (Int. J. Robotics Res., 2019)

Robot grasping by exploiting compliance and environmental constraints (Robotisches Greifen unter Ausnutzung der Nachgiebigkeit von Händen und Einbeziehung der Umgebung) - Clemens Eppner (2019)

Self-supervised 6D Object Pose Estimation for Robot Manipulation. - Xinke Deng; Yu Xiang 001; Arsalan Mousavian; Clemens Eppner; Timothy Bretl; Dieter Fox (ICRA, 2020)

6-DOF Grasping for Target-driven Object Manipulation in Clutter. - Adithyavairavan Murali; Arsalan Mousavian; Clemens Eppner; Chris Paxton 001; Dieter Fox (ICRA, 2020)

Object Rearrangement Using Learned Implicit Collision Functions. - Michael Danielczuk; Arsalan Mousavian; Clemens Eppner; Dieter Fox (ICRA, 2021)

ACRONYM: A Large-Scale Grasp Dataset Based on Simulation. - Clemens Eppner; Arsalan Mousavian; Dieter Fox (ICRA, 2021)

Alternative Paths Planner (APP) for Provably Fixed-time Manipulation Planning in Semi-structured Environments. - Fahad Islam; Chris Paxton 001; Clemens Eppner; Bryan Peele; Maxim Likhachev; Dieter Fox (ICRA, 2021)

Correction to: Four aspects of building robotic systems: lessons from the Amazon Picking Challenge 2015. - Clemens Eppner; Sebastian Höfer; Rico Jonschkowski; Roberto Martín-Martín; Arne Sieverling; Vincent Wall; Oliver Brock (Auton. Robots, 2021)

DefGraspSim: Simulation-based grasping of 3D deformable objects. - Isabella Huang; Yashraj S. Narang; Clemens Eppner; Balakumar Sundaralingam; Miles Macklin; Tucker Hermans; Dieter Fox (CoRR, 2021)

Motion Policy Networks. - Adam Fishman; Adithyavairavan Murali; Clemens Eppner; Bryan Peele; Byron Boots; Dieter Fox (CoRL, 2022)

DefGraspSim: Physics-Based Simulation of Grasp Outcomes for 3D Deformable Objects. - Isabella Huang; Yashraj S. Narang; Clemens Eppner; Balakumar Sundaralingam; Miles Macklin; Ruzena Bajcsy; Tucker Hermans; Dieter Fox (IEEE Robotics Autom. Lett., 2022)

CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation. - Adithyavairavan Murali; Arsalan Mousavian; Clemens Eppner; Adam Fishman; Dieter Fox (ICRA, 2023)

Deep Learning Approaches to Grasp Synthesis: A Review. - Rhys Newbury; Morris Gu; Lachlan Chumbley; Arsalan Mousavian; Clemens Eppner; Jürgen Leitner; Jeannette Bohg; Antonio Morales; Tamim Asfour; Danica Kragic; Dieter Fox; Akansel Cosgun (IEEE Trans. Robotics, 2023)

DiMSam: Diffusion Models as Samplers for Task and Motion Planning under Partial Observability. - Xiaolin Fang 002; Caelan Reed Garrett; Clemens Eppner; Tomás Lozano-Pérez; Leslie Pack Kaelbling; Dieter Fox (IROS, 2024)

One-Shot Transfer of Long-Horizon Extrinsic Manipulation Through Contact Retargeting. - Albert Wu; Ruocheng Wang; Sirui Chen; Clemens Eppner; C. Karen Liu (IROS, 2024)

scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation. - Clemens Eppner; Adithyavairavan Murali; Caelan Garrett; Rowland O'Flaherty; Tucker Hermans; Wei Yang 019; Dieter Fox (Zenodo, 2025)

scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation. - Clemens Eppner; Adithyavairavan Murali; Caelan Reed Garrett; Rowland O'Flaherty; Tucker Hermans; Wei Yang 019; Dieter Fox (J. Open Source Softw., 2025)

RoboArena: Distributed Real-World Evaluation of Generalist Robot Policies. - Pranav Atreya; Karl Pertsch; Tony Lee; Moo Jin Kim; Arhan Jain; Artur Kuramshin; Clemens Eppner; Cyrus Neary; Edward S. Hu; Fabio Ramos 001; Jonathan Tremblay; Kanav Arora; et al. (CoRR, 2025)

3D-Generalist: Self-Improving Vision-Language-Action Models for Crafting 3D Worlds. - Fan-Yun Sun; Shengguang Wu; Christian Jacobsen; Thomas Yim; Haoming Zou; Alex Zook; Shangru Li; Yu-Hsin Chou; Ethem Can; Xunlei Wu; Clemens Eppner; Valts Blukis; et al. (CoRR, 2025)

GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training. - Adithyavairavan Murali; Balakumar Sundaralingam; Yu-Wei Chao; Wentao Yuan; Jun Yamada; Mark Carlson; Fabio Ramos 001; Stan Birchfield; Dieter Fox; Clemens Eppner (CoRR, 2025)