Cutting Events: Towards Autonomous Plan Adaption by Robotic Agents through Image-Schematic Event Segmentation. - Kaviya Dhanabalachandran; Vanessa Hassouna; Maria M. Hedblom; Michaela Kümpel; Nils Leusmann; Michael Beetz (K-CAP, 2021)

Generating Actionable Robot Knowledge Bases by Combining 3D Scene Graphs with Robot Ontologies. - Giang Nguyen; Mihai Pomarlan; Sascha Jongebloed; Nils Leusmann; Minh Nhat Vu; Michael Beetz (CoRR, 2025)