Persistent Homology for Learning Densities with Bounded Support. - Florian T. Pokorny; Carl Henrik Ek; Hedvig Kjellström; Danica Kragic (NIPS, 2012)

Supervised Hierarchical Dirichlet Processes with Variational Inference. - Cheng Zhang 005; Carl Henrik Ek; Xavi Gratal; Florian T. Pokorny; Hedvig Kjellström (ICCV Workshops, 2013)

The Path Kernel. - Andrea Baisero; Florian T. Pokorny; Danica Kragic; Carl Henrik Ek (ICPRAM, 2013)

The Path Kernel: A Novel Kernel for Sequential Data. - Andrea Baisero; Florian T. Pokorny; Danica Kragic; Carl Henrik Ek (ICPRAM (Selected Papers), 2013)

Grasping objects with holes: A topological approach. - Florian T. Pokorny; Johannes A. Stork; Danica Kragic (ICRA, 2013)

Friction coefficients and grasp synthesis. - Kaiyu Hang; Florian T. Pokorny; Danica Kragic (IROS, 2013)

Classical grasp quality evaluation: New algorithms and theory. - Florian T. Pokorny; Danica Kragic (IROS, 2013)

Integrated motion and clasp planning with virtual linking. - Johannes A. Stork; Florian T. Pokorny; Danica Kragic (IROS, 2013)

Caging complex objects with geodesic balls. - Dmitry Zarubin; Florian T. Pokorny; Marc Toussaint; Danica Kragic (IROS, 2013)

Grasp Moduli Spaces. - Florian T. Pokorny; Kaiyu Hang; Danica Kragic (Robotics: Science and Systems, 2013)

Combinatorial optimization for hierarchical contact-level grasping. - Kaiyu Hang; Johannes A. Stork; Florian T. Pokorny; Danica Kragic (ICRA, 2014)

Grasp moduli spaces and spherical harmonics. - Florian T. Pokorny; Yasemin Bekiroglu; Danica Kragic (ICRA, 2014)

Multiscale Topological Trajectory Classification with Persistent Homology. - Florian T. Pokorny; Majd Hawasly; Subramanian Ramamoorthy (Robotics: Science and Systems, 2014)

Multi-armed bandit models for 2D grasp planning with uncertainty. - Michael Laskey; Jeffrey Mahler; Zoe McCarthy; Florian T. Pokorny; Sachin Patil; Jur P. van den Berg; Danica Kragic; Pieter Abbeel; Ken Goldberg (CASE, 2015)

Data-Driven Topological Motion Planning with Persistent Cohomology. - Florian T. Pokorny; Danica Kragic (Robotics: Science and Systems, 2015)

Cohomological learning of periodic motion. - Mikael Vejdemo-Johansson; Florian T. Pokorny; Primoz Skraba; Danica Kragic (Appl. Algebra Eng. Commun. Comput., 2015)

On a Family of Decomposable Kernels on Sequences. - Andrea Baisero; Florian T. Pokorny; Carl Henrik Ek (CoRR, 2015)

Robot grasping in clutter: Using a hierarchy of supervisors for learning from demonstrations. - Michael Laskey; Jonathan Lee 002; Caleb Chuck; David V. Gealy; Wesley Yu-Shu Hsieh; Florian T. Pokorny; Anca D. Dragan; Ken Goldberg (CASE, 2016)

Privacy-preserving Grasp Planning in the Cloud. - Jeffrey Mahler; Brian Hou; Sherdil Niyaz; Florian T. Pokorny; Ramu Chandra; Ken Goldberg (CASE, 2016)

SHIV: Reducing supervisor burden in DAgger using support vectors for efficient learning from demonstrations in high dimensional state spaces. - Michael Laskey; Sam Staszak; Wesley Yu-Shu Hsieh; Jeffrey Mahler; Florian T. Pokorny; Anca D. Dragan; Ken Goldberg (ICRA, 2016)

Dex-Net 1.0: A cloud-based network of 3D objects for robust grasp planning using a Multi-Armed Bandit model with correlated rewards. - Jeffrey Mahler; Florian T. Pokorny; Brian Hou; Melrose Roderick; Michael Laskey; Mathieu Aubry; Kai Kohlhoff; Torsten Kröger; James J. Kuffner; Ken Goldberg (ICRA, 2016)

TSC-DL: Unsupervised trajectory segmentation of multi-modal surgical demonstrations with Deep Learning. - Adithyavairavan Murali; Animesh Garg; Sanjay Krishnan; Florian T. Pokorny; Pieter Abbeel; Trevor Darrell; Ken Goldberg (ICRA, 2016)

Topological trajectory clustering with relative persistent homology. - Florian T. Pokorny; Ken Goldberg; Danica Kragic (ICRA, 2016)

High-dimensional Winding-Augmented Motion Planning with 2D topological task projections and persistent homology. - Florian T. Pokorny; Danica Kragic; Lydia E. Kavraki; Ken Goldberg (ICRA, 2016)

Large-scale supervised learning of the grasp robustness of surface patch pairs. - Daniel Seita; Florian T. Pokorny; Jeffrey Mahler; Danica Kragic; Michael J. Franklin; John F. Canny; Kenneth Y. Goldberg (SIMPAR, 2016)

SWIRL: A SequentialWindowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards. - Sanjay Krishnan; Animesh Garg; Richard Liaw; Brijen Thananjeyan; Lauren Miller; Florian T. Pokorny; Ken Goldberg (WAFR, 2016)

Estimating Activity at Multiple Scales using Spatial Abstractions. - Majd Hawasly; Florian T. Pokorny; Subramanian Ramamoorthy (CoRR, 2016)

HIRL: Hierarchical Inverse Reinforcement Learning for Long-Horizon Tasks with Delayed Rewards. - Sanjay Krishnan; Animesh Garg; Richard Liaw; Lauren Miller; Florian T. Pokorny; Ken Goldberg (CoRR, 2016)

CapriDB - Capture, Print, Innovate: A Low-Cost Pipeline and Database for Reproducible Manipulation Research. - Florian T. Pokorny; Yasemin Bekiroglu; Karl Pauwels; Judith Bütepage; Clara Scherer; Danica Kragic (CoRR, 2016)

Topological trajectory classification with filtrations of simplicial complexes and persistent homology. - Florian T. Pokorny; Majd Hawasly; Subramanian Ramamoorthy (Int. J. Robotics Res., 2016)

Energy-Bounded Caging: Formal Definition and 2-D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes. - Jeffrey Mahler; Florian T. Pokorny; Zoe McCarthy; A. Frank van der Stappen; Ken Goldberg (IEEE Robotics Autom. Lett., 2016)

Hierarchical Fingertip Space: A Unified Framework for Grasp Planning and In-Hand Grasp Adaptation. - Kaiyu Hang; Miao Li 002; Johannes A. Stork; Yasemin Bekiroglu; Florian T. Pokorny; Aude Billard; Danica Kragic (IEEE Trans. Robotics, 2016)

Caging Grasps of Rigid and Partially Deformable 3-D Objects With Double Fork and Neck Features. - Anastasiia Varava; Danica Kragic; Florian T. Pokorny (IEEE Trans. Robotics, 2016)

Multi-scale Activity Estimation with Spatial Abstractions. - Majd Hawasly; Florian T. Pokorny; Subramanian Ramamoorthy (GSI, 2017)

Caging and Path Non-existence: A Deterministic Sampling-Based Verification Algorithm. - Anastasiia Varava; J. Frederico Carvalho 001; Florian T. Pokorny; Danica Kragic (ISRR, 2017)

Herding by Caging: a Topological Approach towards Guiding Moving Agents via Mobile Robots. - Anastasiia Varava; Kaiyu Hang; Danica Kragic; Florian T. Pokorny (Robotics: Science and Systems, 2017)

A Decomposition-Based Approach to Reasoning about Free Space Path-Connectivity for Rigid Objects in 2D. - Anastasiia Varava; J. Frederico Carvalho 001; Danica Kragic; Florian T. Pokorny (CoRR, 2017)

An algorithm for calculating top-dimensional bounding chains. - J. Frederico Carvalho 001; Mikael Vejdemo-Johansson; Danica Kragic; Florian T. Pokorny (PeerJ Prepr., 2017)

Path Clustering with Homology Area. - J. Frederico Carvalho 001; Mikael Vejdemo-Johansson; Danica Kragic; Florian T. Pokorny (ICRA, 2018)

Synthesis of Energy-Bounded Planar Caging Grasps Using Persistent Homology. - Jeffrey Mahler; Florian T. Pokorny; Sherdil Niyaz; Ken Goldberg (IEEE Trans Autom. Sci. Eng., 2018)

Voronoi Boundary Classification: A High-Dimensional Geometric Approach via Weighted Monte Carlo Integration. - Vladislav Polianskii; Florian T. Pokorny (ICML, 2019)

Long-term Prediction of Motion Trajectories Using Path Homology Clusters. - J. Frederico Carvalho 001; Mikael Vejdemo-Johansson; Florian T. Pokorny; Danica Kragic (IROS, 2019)

SWIRL: A sequential windowed inverse reinforcement learning algorithm for robot tasks with delayed rewards. - Sanjay Krishnan; Animesh Garg; Richard Liaw; Brijen Thananjeyan; Lauren Miller; Florian T. Pokorny; Ken Goldberg (Int. J. Robotics Res., 2019)

Geometric Characterization of Two-Finger Basket Grasps of 2-D Objects: Contact Space Formulation. - Elon D. Rimon; Florian T. Pokorny; Weiwei Wan (ICRA, 2020)

Standard Deep Generative Models for Density Estimation in Configuration Spaces: A Study of Benefits, Limits and Challenges. - Robert Gieselmann; Florian T. Pokorny (IROS, 2020)

No Map, No Problem: A Local Sensing Approach for Navigation in Human-Made Spaces Using Signs. - Claire Liang; Ross A. Knepper; Florian T. Pokorny (IROS, 2020)

Voronoi Graph Traversal in High Dimensions with Applications to Topological Data Analysis and Piecewise Linear Interpolation. - Vladislav Polianskii; Florian T. Pokorny (KDD, 2020)

A Robotics-Inspired Screening Algorithm for Molecular Caging Prediction. - Oleksandr Kravchenko; Anastasiia Varava; Florian T. Pokorny; Didier Devaurs; Lydia E. Kavraki; Danica Kragic (J. Chem. Inf. Model., 2020)

Learning Node Representations Using Stationary Flow Prediction on Large Payment and Cash Transaction Networks. - Ciwan Ceylan; Salla Franzén; Florian T. Pokorny (ICML, 2021)

ReForm: A Robot Learning Sandbox for Deformable Linear Object Manipulation. - Rita Laezza; Robert Gieselmann; Florian T. Pokorny; Yiannis Karayiannidis (ICRA, 2021)

Guest Editorial: Special issue on "Topological methods in robotics". - Subhrajit Bhattacharya; Florian T. Pokorny; Howie Choset (Auton. Robots, 2021)

Herding by caging: a formation-based motion planning framework for guiding mobile agents. - Haoran Song; Anastasiia Varava; Oleksandr Kravchenko; Danica Kragic; Michael Yu Wang; Florian T. Pokorny; Kaiyu Hang (Auton. Robots, 2021)

Partial caging: a clearance-based definition, datasets, and deep learning. - Michael C. Welle; Anastasiia Varava; Jeffrey Mahler; Ken Goldberg; Danica Kragic; Florian T. Pokorny (Auton. Robots, 2021)

Approximate Topological Optimization using Multi-Mode Estimation for Robot Motion Planning. - Andreas Orthey; Florian T. Pokorny; Marc Toussaint (CoRR, 2021)

Free space of rigid objects: caging, path non-existence, and narrow passage detection. - Anastasiia Varava; J. Frederico Carvalho 001; Danica Kragic; Florian T. Pokorny (Int. J. Robotics Res., 2021)

Planning-Augmented Hierarchical Reinforcement Learning. - Robert Gieselmann; Florian T. Pokorny (IEEE Robotics Autom. Lett., 2021)

Delaunay Component Analysis for Evaluation of Data Representations. - Petra Poklukar; Vladislav Polianskii; Anastasiia Varava; Florian T. Pokorny; Danica Kragic (ICLR, 2022)

Active Nearest Neighbor Regression Through Delaunay Refinement. - Alexander Kravberg; Giovanni Luca Marchetti; Vladislav Polianskii; Anastasiia Varava; Florian T. Pokorny; Danica Kragic (ICML, 2022)

BITKOMO: Combining Sampling and Optimization for Fast Convergence in Optimal Motion Planning. - Jay Kamat; Joaquim Ortiz de Haro; Marc Toussaint; Florian T. Pokorny; Andreas Orthey (IROS, 2022)

Latent Planning via Expansive Tree Search. - Robert Gieselmann; Florian T. Pokorny (NeurIPS, 2022)

Voronoi density estimator for high-dimensional data: Computation, compactification and convergence. - Vladislav Polianskii; Giovanni Luca Marchetti; Alexander Kravberg; Anastasiia Varava; Florian T. Pokorny; Danica Kragic (UAI, 2022)

Delaunay Component Analysis for Evaluation of Data Representations. - Petra Poklukar; Vladislav Polianskii; Anastasia Varava; Florian T. Pokorny; Danica Kragic (CoRR, 2022)

An Efficient and Continuous Voronoi Density Estimator. - Giovanni Luca Marchetti; Vladislav Polianskii; Anastasiia Varava; Florian T. Pokorny; Danica Kragic (AISTATS, 2023)

Expansive Latent Planning for Sparse Reward Offline Reinforcement Learning. - Robert Gieselmann; Florian T. Pokorny (CoRL, 2023)

Video Transformers under Occlusion: How Physics and Background Attributes Impact Large Models for Robotic Manipulation. - Shutong Jin; Ruiyu Wang; Muhammad Zahid; Florian T. Pokorny (CoRR, 2023)

RealCraft: Attention Control as A Solution for Zero-shot Long Video Editing. - Shutong Jin; Ruiyu Wang; Florian T. Pokorny (CoRR, 2023)

Quasi-static Soft Fixture Analysis of Rigid and Deformable Objects. - Yifei Dong; Florian T. Pokorny (ICRA, 2024)

CloudGripper: An Open Source Cloud Robotics Testbed for Robotic Manipulation Research, Benchmarking and Data Collection at Scale. - Muhammad Zahid; Florian T. Pokorny (ICRA, 2024)

How Physics and Background Attributes Impact Video Transformers in Robotic Manipulation: A Case Study on Planar Pushing. - Shutong Jin; Ruiyu Wang; Muhammad Zahid; Florian T. Pokorny (IROS, 2024)

Caging in Motion: Characterizing Robustness in Manipulation through Energy Margin and Dynamic Caging Analysis. - Yifei Dong; Xianyi Cheng; Florian T. Pokorny (CoRR, 2024)

Walk on Spheres for PDE-based Path Planning. - Rafael I. Cabral Muchacho; Florian T. Pokorny (CoRR, 2024)

Adaptive Distance Functions via Kelvin Transformation. - Rafael I. Cabral Muchacho; Florian T. Pokorny (CoRR, 2024)

Forward Invariance in Trajectory Spaces for Safety-critical Control. - Matti Vahs; Rafael I. Cabral Muchacho; Florian T. Pokorny; Jana Tumova (CoRR, 2024)

Co-Designing Tools and Control Policies for Robust Manipulation. - Yifei Dong; Shaohang Han; Xianyi Cheng; Werner Friedl; Rafael I. Cabral Muchacho; Máximo A. Roa; Jana Tumova; Florian T. Pokorny (CoRR, 2024)

Feature Extractor or Decision Maker: Rethinking the Role of Visual Encoders in Visuomotor Policies. - Ruiyu Wang; Zheyu Zhuang; Shutong Jin; Nils Ingelhag; Danica Kragic; Florian T. Pokorny (CoRR, 2024)

T-DOM: A Taxonomy for Robotic Manipulation of Deformable Objects. - David Blanco-Mulero; Yifei Dong; Júlia Borràs 001; Florian T. Pokorny; Carme Torras (CoRR, 2024)

Characterizing Manipulation Robustness Through Energy Margin and Caging Analysis. - Yifei Dong; Xianyi Cheng; Florian T. Pokorny (IEEE Robotics Autom. Lett., 2024)

tinyKube: A Middleware for Dynamic Resource Management in Cloud-Edge Platforms for Large-Scale Cloud Robotics. - Chanh Nguyen; Eunil Seo; Muhammad Zahid; Oliver Larsson; Florian T. Pokorny; Erik Elmroth (NOMS, 2025)

PACA: Perspective-Aware Cross-Attention Representation for Zero-Shot Scene Rearrangement. - Shutong Jin; Ruiyu Wang; Kuangyi Chen; Florian T. Pokorny (WACV, 2025)

One-Shot Federated Learning with Classifier-Free Diffusion Models. - Obaidullah Zaland; Shutong Jin; Florian T. Pokorny; Monowar H. Bhuyan (CoRR, 2025)

Data-augmented Learning of Geodesic Distances in Irregular Domains through Soner Boundary Conditions. - Rafael I. Cabral Muchacho; Florian T. Pokorny (CoRR, 2025)

Can Visuo-motor Policies Benefit from Random Exploration Data? A Case Study on Stacking. - Shutong Jin; Axel Kaliff; Ruiyu Wang; Muhammad Zahid; Florian T. Pokorny (CoRR, 2025)

Nondeterministic Polynomial-time Problem Challenge: An Ever-Scaling Reasoning Benchmark for LLMs. - Chang Yang; Ruiyu Wang; Junzhe Jiang 002; Qi Jiang; Qinggang Zhang; Yanchen Deng; Shuxin Li 001; Shuyue Hu; Bo Li 037; Florian T. Pokorny; Xiao Huang 001; Xinrun Wang (CoRR, 2025)

Unifying Complementarity Constraints and Control Barrier Functions for Safe Whole-Body Robot Control. - Rafael I. Cabral Muchacho; Riddhiman Laha; Florian T. Pokorny; Luis F. C. Figueredo; Nilanjan Chakraborty (CoRR, 2025)

Robustness-Aware Tool Selection and Manipulation Planning with Learned Energy-Informed Guidance. - Yifei Dong; Yan Zhang; Sylvain Calinon; Florian T. Pokorny (CoRR, 2025)

Federated Learning for Large-Scale Cloud Robotic Manipulation: Opportunities and Challenges. - Obaidullah Zaland; Chanh Nguyen; Florian T. Pokorny; Monowar H. Bhuyan (CoRR, 2025)