Oriented Surface Reachability Maps for Robot Placement. - Timo Birr; Christoph Pohl; Tamim Asfour (ICRA, 2022)

AutoGPT+P: Affordance-based Task Planning using Large Language Models. - Timo Birr; Christoph Pohl; Abdelrahman Younes; Tamim Asfour (Robotics: Science and Systems, 2024)

AutoGPT+P: Affordance-based Task Planning with Large Language Models. - Timo Birr; Christoph Pohl; Abdelrahman Younes; Tamim Asfour (CoRR, 2024)

CLEVER: Stream-Based Active Learning for Robust Semantic Perception From Human Instructions. - Jongseok Lee; Timo Birr; Rudolph Triebel; Tamim Asfour (IEEE Robotics Autom. Lett., 2025)