Simultaneous kinesthetic teaching of positional and force requirements for sequential in-contact tasks. - Franz Steinmetz; Alberto Montebelli; Ville Kyrki (Humanoids, 2015)

On handing down our tools to robots: Single-phase kinesthetic teaching for dynamic in-contact tasks. - Alberto Montebelli; Franz Steinmetz; Ville Kyrki (ICRA, 2015)

Skill parametrization approaches and skill architecture for human-robot interaction. - Franz Steinmetz; Roman Weitschat (CASE, 2016)

RAFCON: A graphical tool for engineering complex, robotic tasks. - Sebastian G. Brunner; Franz Steinmetz; Rico Belder; Andreas Dömel (IROS, 2016)

RAFCON: A Graphical Tool for Task Programming and Mission Control. - Sebastian G. Brunner; Franz Steinmetz; Rico Belder; Andreas Dömel (RoboCup, 2016)

RAZER - A HRI for Visual Task-Level Programming and Intuitive Skill Parameterization. - Franz Steinmetz; Annika Wollschläger; Roman Weitschat (IEEE Robotics Autom. Lett., 2018)

Intuitive Task-Level Programming by Demonstration Through Semantic Skill Recognition. - Franz Steinmetz; Verena Nitsch; Freek Stulp (IEEE Robotics Autom. Lett., 2019)

Friction Estimation for Tendon-Driven Robotic Hands. - Friedrich Lange; Martin Pfanne; Franz Steinmetz; Sebastian Wolf 001; Freek Stulp (ICRA, 2021)

Learning and Interactive Design of Shared Control Templates. - Gabriel Quere; Samuel Bustamante; Annette Hagengruber; Jörn Vogel; Franz Steinmetz; Freek Stulp (IROS, 2021)

Flexible Robotic Assembly Based on Ontological Representation of Tasks, Skills, and Resources. - Philipp Matthias Schäfer; Franz Steinmetz; Stefan Schneyer; Timo Bachmann; Thomas Eiband; Florian Samuel Lay; Abhishek Padalkar; Christoph Sürig; Freek Stulp; Korbinian Nottensteiner (KR, 2021)

Multi-Phase Multi-Modal Haptic Teleoperation. - Maximilian Mühlbauer; Franz Steinmetz; Freek Stulp; Thomas Hulin; Alin Albu-Schäffer (IROS, 2022)

Guiding Reinforcement Learning with Shared Control Templates. - Abhishek Padalkar; Gabriel Quere; Franz Steinmetz; Antonin Raffin; Matthias Nieuwenhuisen; João Silvério; Freek Stulp (ICRA, 2023)