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Dr. Tim Welschehold

Junior Research Group Leader
Postal address:

Albert-Ludwigs-Universität Freiburg
Technische Fakultät
Robot Learning Lab
Georges-Köhler-Allee 080
D-79110 Freiburg i. Br., Germany

Office: Buildig 80, 01-002
Email: twelsche@cs.uni-freiburg.de
Phone: +49 761 203-8005

About me

  • 08/2022 - up to now: Junior Research Group Leader, University of Freiburg, Germany
  • 03/2022 - 07/23: Substitute professor and commissionary head of the Autonomous Intelligent Systems group, University of Freiburg, Germany
  • 03/2020 - 02/2022: Senior Researcher in the Autonomous Intelligent Systems and Robotic Learning labs, University of Freiburg
  • 04/2014 - 02/2019: PhD in Computer Science at the Autonomous Intelligent Systems group of Prof. Dr. Wolfram Burgard, University of Freiburg, Germany
  • 05/2013 - 03/2014: Scientific Researcher, Fraunhofer Institute of Solar Energy Systems
  • 10/2007 - 04/2013: Diploma in Physics with minor in Computer Science, University of Freiburg

Research Interests

  • Reinforcement learning
  • Imitation Learning
  • Mobile Manipulation
  • Dynamical systems

Current Research Projects

Publications

Google scholar profile

2023

  • Eugenio Chisari , Nick Heppert , Tim Welschehold, Wolfram Burgard, Abhinav Valada,
    CenterGrasp: Object-Aware Implicit Representation Learning for Simultaneous Shape Reconstruction and 6-DoF Grasp Estimation
    arXiv preprint arXiv:2312.08240, 2023
    Download BibTeX
  • Iman Nematollahi, Kirill Yankov, Wolfram Burgard, Tim Welschehold,
    Robot Skill Generalization via Keypoint Integrated Soft Actor-Critic Gaussian Mixture Models
    International Symposium on Experimental Robotics (ISER), Chiang Mai, Thailand, 2023.
    Download Video Project Page BibTeX
  • Jan Ole von Hartz , Eugenio Chisari , Tim Welschehold, Wolfram Burgard, Joschka Boedecker, Abhinav Valada,
    The Treachery of Images: Bayesian Scene Keypoints for Deep Policy Learning in Robotic Manipulation
    IEEE Robotics and Automation Letters, vol. 8, no. 11, pp. 6931-6938, doi: 10.1109/LRA.2023.3313917., 2023
    Download BibTeX
  • Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    N2M2:Learning Navigation for Arbitrary Mobile Manipulation Motions in Unseen and Dynamic Environments
    IEEE Transactions on Robotics (T-RO), 2023.
    >> Best Paper Award, IROS 2022 Workshop on Mobile Manipulation and Embodied Intelligence.
    Download, Publisher page Video Demo BibTeX
  • Johan Vertens, Nicolai Dorka, Michael Thompson, Tim Welschehold, Wolfram Burgard,
    Improving Deep Dynamics Models for Autonomous Vehicles with Multimodal Latent Mapping of Surfaces
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Detroit, USA, 2023.
    Download BibTeX
  • Fabian Schmalstieg, Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    Learning Hierarchical Interactive Multi-Object Search for Mobile Manipulation
    IEEE Robotics and Automation Letters (RA-L), 2023, 2023.
    Download Website BibTeX
  • Nicolai Dorka, Tim Welschehold, Joschka Boedecker, Wolfram Burgard,
    Adaptively Calibrated Critic Estimates for Deep Reinforcement Learning
    Robotics and Automation Letters (RA-L), 8(2), 2023. Also at: Workshop on Deep Reinforcement Learning, Conference on Neural Information Processing Systems (NeurIPS) , 2021.
    Download BibTeX
  • Abdelrahman Younes*, Daniel Honerkamp*, Tim Welschehold, Abhinav Valada,
    Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Sounds
    Robotics and Automation Letters (RA-L), 8(2), 2023
    Download BibTeX
  • Nicolai Dorka, Tim Welschehold, Wolfram Burgard,
    Dynamic Update-to-Data Ratio: Minimizing World Model Overfitting
    International Conference on Learning Representations (ICLR), 2023. Also at: Decision Awareness in Reinforcement Learning Workshop at the International Conference on Machine Learning (ICML), 2022.
    Download BibTeX

2022

  • Fabian Schmalstieg*, Daniel Honerkamp*, Tim Welschehold, Abhinav Valada,
    Learning Long-Horizon Robot Exploration Strategies for Multi-Object Search in Continuous Action Spaces
    Proceedings of the International Symposium on Robotics Research (ISRR), 2022.
    Download BibTeX
  • Iman Nematollahi, Erick Rosete-Beas, Adrian Röfer, Tim Welschehold, Abhinav Valada, Wolfram Burgard,
    Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models
    IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022.
    Download Video Project Page BibTeX
  • Jan Ole von Hartz , Eugenio Chisari , Tim Welschehold, Abhinav Valada,
    Self-Supervised Learning of Multi-Object Keypoints for Robotic Manipulation
    Reinforcement Learning for Contact-Rich Manipulation Workshop at ICRA, Philadelphia, USA, 2022.
    Download BibTeX
  • Eugenio Chisari , Tim Welschehold, Joschka Boedecker, Wolfram Burgard, Abhinav Valada,
    Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation
    IEEE Robotics and Automation Letters (RA-L), 7(2):3695--3702, 2022.
    Download BibTeX
  • Shengchao Yan , Tim Welschehold, Daniel Büscher, Wolfram Burgard,
    Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning
    IEEE Robotics and Automation Letters (RA-L), 7(1):191--198., 2022.
    Download BibTeX
  • Laura Londoño, Adrian Röfer, Tim Welschehold, Abhinav Valada,
    Doing Right by Not Doing Wrong in Human-Robot Collaboration
    ACM/IEEE International Conference on Human-Robot Interaction Workshop on Fairness and Transparency in Human-Robot Interaction, 2022.
    Download BibTeX
  • Abdelrahman Younes, Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    SoundSpaces Challenge 2022 - 2nd Place
    Conference on Computer Vision and Pattern Recognition (CVPR) Embodied AI Workshop, 2022.
    Video Challenge

2021

  • Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    Learning Kinematic Feasibility for Mobile Manipulation through Deep Reinforcement Learning
    in IEEE Robotics and Automation Letters (RA-L) , 2021.
    Download Video Demo BibTeX
  • Abdelrahman Younes, Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    SoundSpaces Challenge - 1st Place
    Conference on Computer Vision and Pattern Recognition (CVPR) Embodied AI Workshop, 2021.
    Video Challenge

2020

  • Tim Welschehold
    Learning mobile manipulation actions from human demonstrations: an approach to learning and augmenting action models and their integration into task representations
    Ph.D. Dissertation
    Download

2019

  • Tim Welschehold, Nichola Abdo, Christian Dornhege, Wolfram Burgard
    Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.
    Download BibTeX
  • Iman Nematollahi , Daniel Kuhner, Tim Welschehold, Wolfram Burgard
    Augmenting Action Model Learning by Non-Geometric Features
    IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019.
    Download BibTeX

2018

  • Tim Welschehold, Christian Dornhege, Fabian Paus, Tamim Asfour, Wolfram Burgard
    Coupling Mobile Base and End-Effector Motion in Task Space
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.
    Download BibTeX
  • Christian Zimmermann, Tim Welschehold, Christian Dornhege, Wolfram Burgard, Thomas Brox
    3D Human Pose Estimation in RGBD Images for Robotic Task Learning
    IEEE International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018.
    Download BibTeX

2017

  • Tim Welschehold, Christian Dornhege, Wolfram Burgard
    Learning Mobile Manipulation Actions from Human Demonstrations
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
    Download BibTeX
  • Tim Welschehold, Nichola Abdo, Christian Dornhege, Wolfram Burgard
    Towards Learning Task Intentions from Human Demonstrations
    Workshop on “Learning for Collaborative Robotics: Enabling Flexible, Redeployable and Agile Industrial Applications” at the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017.
    Download BibTeX

2016

  • Tim Welschehold, Christian Dornhege, Wolfram Burgard
    Learning Manipulation Actions from Human Demonstrations
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016.
    Download BibTeX

Teaching

Seminars

Current Students

  • Model-free RL in mobile manipulation, A. Khalid, Master Project
  • Hierarchical mobile manipulation, F. Schmalstieg, Master Project

Past Students

  • Dynamical Audio-Visual Navigation: Catching Moving Unheard Sound Sources in Unmapped 3D Environments, 2021. Master Thesis of Abdelrahman Younes (co-supervised with Daniel Honerkamp)
  • Deep Reinforcement Learning for Adapting Dynamical Systems, 2021. Master Project of Erick Rosete Beas (co-supervised with Iman Nematollahi )
  • Augmenting Action Model Learning by Non-Geometric Features, 2018. Master Thesis of Iman Nematollahi (co-supervised with Daniel Kuhner )