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ORCIDGeorgia Chalvatzaki
Person information
- affiliation: Technical University of Darmstadt, Germany
- affiliation (former): National Technical University of Athens, Greece
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2020 – today
- 2024
[j11]Vignesh Prasad
, Alap Kshirsagar, Dorothea Koert, Ruth Stock-Homburg, Jan Peters, Georgia Chalvatzaki:
MoVEInt: Mixture of Variational Experts for Learning Human-Robot Interactions From Demonstrations. IEEE Robotics Autom. Lett. 9(7): 6043-6050 (2024)- [j10]Felix Herrmann, Sebastian Zach, Jacopo Banfi, Jan Peters, Georgia Chalvatzaki, Davide Tateo:
Safe and Efficient Path Planning Under Uncertainty via Deep Collision Probability Fields. IEEE Robotics Autom. Lett. 9(11): 9327-9334 (2024) - [j9]Niklas Funk, Erik Helmut, Georgia Chalvatzaki, Roberto Calandra, Jan Peters:
Evetac: An Event-Based Optical Tactile Sensor for Robotic Manipulation. IEEE Trans. Robotics 40: 3812-3832 (2024) - [c42]Yasemin Göksu, Antonio De Almeida Correia, Vignesh Prasad, Alap Kshirsagar, Dorothea Koert, Jan Peters, Georgia Chalvatzaki:
Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers. HRI (Companion) 2024: 497-501 - [c41]Fabian Hahne, Vignesh Prasad, Alap Kshirsagar, Dorothea Koert, Ruth Maria Stock-Homburg, Jan Peters, Georgia Chalvatzaki:
Transition State Clustering for Interaction Segmentation and Learning. HRI (Companion) 2024: 512-516 - [c40]Aryaman Reddi, Maximilian Tölle, Jan Peters, Georgia Chalvatzaki, Carlo D'Eramo:
Robust Adversarial Reinforcement Learning via Bounded Rationality Curricula. ICLR 2024 - [c39]Gabriele Tiboni, Pascal Klink, Jan Peters, Tatiana Tommasi, Carlo D'Eramo, Georgia Chalvatzaki:
Domain Randomization via Entropy Maximization. ICLR 2024 - [c38]Snehal Jauhri, Sophie Lueth, Georgia Chalvatzaki:
Active-Perceptive Motion Generation for Mobile Manipulation. ICRA 2024: 1413-1419 - [i36]Yasemin Göksu, Antonio De Almeida Correia, Vignesh Prasad, Alap Kshirsagar, Dorothea Koert, Jan Peters, Georgia Chalvatzaki:
Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers. CoRR abs/2402.14525 (2024) - [i35]Fabian Hahne, Vignesh Prasad, Alap Kshirsagar, Dorothea Koert, Ruth Maria Stock-Homburg, Jan Peters, Georgia Chalvatzaki:
Transition State Clustering for Interaction Segmentation and Learning. CoRR abs/2402.14548 (2024) - [i34]Zechu Li, Rickmer Krohn, Tao Chen, Anurag Ajay, Pulkit Agrawal, Georgia Chalvatzaki:
Learning Multimodal Behaviors from Scratch with Diffusion Policy Gradient. CoRR abs/2406.00681 (2024) - [i33]Vignesh Prasad, Alap Kshirsagar, Dorothea Koert, Ruth Stock-Homburg, Jan Peters, Georgia Chalvatzaki:
MoVEInt: Mixture of Variational Experts for Learning Human-Robot Interactions from Demonstrations. CoRR abs/2407.07636 (2024) - [i32]Julen Urain, Ajay Mandlekar, Yilun Du, Mahi Shafiullah, Danfei Xu, Katerina Fragkiadaki, Georgia Chalvatzaki, Jan Peters:
Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrations. CoRR abs/2408.04380 (2024) - [i31]Felix Herrmann, Sebastian Zach, Jacopo Banfi, Jan Peters, Georgia Chalvatzaki, Davide Tateo:
Safe and Efficient Path Planning under Uncertainty via Deep Collision Probability Fields. CoRR abs/2409.04306 (2024) - [i30]Niklas Funk, Julen Urain, Joao Carvalho, Vignesh Prasad, Georgia Chalvatzaki, Jan Peters:
ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching. CoRR abs/2409.04576 (2024) - 2023
- [j8]Georgia Chalvatzaki, Ali Younes, Daljeet Nandha, An T. Le, Leonardo F. R. Ribeiro, Iryna Gurevych:
Learning to reason over scene graphs: a case study of finetuning GPT-2 into a robot language model for grounded task planning. Frontiers Robotics AI 10 (2023) - [j7]Daniel Leidner, Georgia Chalvatzaki, Karinne Ramirez-Amaro:
Diversity as a Game Changer for Successful Teams in RoboCup [Women in Engineering]. IEEE Robotics Autom. Mag. 30(1): 98-100 (2023) - [c37]Ali Younes, Simone Schaub-Meyer, Georgia Chalvatzaki:
Entropy-driven Unsupervised Keypoint Representation Learning in Videos. ICML 2023: 40225-40253 - [c36]Julen Urain, Niklas Funk, Jan Peters, Georgia Chalvatzaki:
SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion. ICRA 2023: 5923-5930 - [c35]Puze Liu, Kuo Zhang, Davide Tateo, Snehal Jauhri, Zhiyuan Hu, Jan Peters, Georgia Chalvatzaki:
Safe Reinforcement Learning of Dynamic High-Dimensional Robotic Tasks: Navigation, Manipulation, Interaction. ICRA 2023: 9449-9456 - [c34]Kay Hansel, Julen Urain, Jan Peters, Georgia Chalvatzaki:
Hierarchical Policy Blending as Inference for Reactive Robot Control. ICRA 2023: 10181-10188 - [c33]Luca Lach, Niklas Funk, Robert Haschke, Séverin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki:
Placing by Touching: An Empirical Study on the Importance of Tactile Sensing for Precise Object Placing. IROS 2023: 8964-8971 - [c32]An T. Le, Kay Hansel, Jan Peters, Georgia Chalvatzaki:
Hierarchical Policy Blending As Optimal Transport. L4DC 2023: 797-812 - [c31]An T. Le, Georgia Chalvatzaki, Armin Biess, Jan Peters:
Accelerating Motion Planning via Optimal Transport. NeurIPS 2023 - [i29]Georgia Chalvatzaki, Ali Younes, Daljeet Nandha, An T. Le, Leonardo F. R. Ribeiro, Iryna Gurevych:
Learning to Reason over Scene Graphs: A Case Study of Finetuning GPT-2 into a Robot Language Model for Grounded Task Planning. CoRR abs/2305.07716 (2023) - [i28]Snehal Jauhri, Ishikaa Lunawat, Georgia Chalvatzaki:
Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Rendering. CoRR abs/2306.07392 (2023) - [i27]An T. Le, Georgia Chalvatzaki, Armin Biess, Jan Peters:
Accelerating Motion Planning via Optimal Transport. CoRR abs/2309.15970 (2023) - [i26]Snehal Jauhri, Sophie Lueth, Georgia Chalvatzaki:
Active-Perceptive Motion Generation for Mobile Manipulation. CoRR abs/2310.00433 (2023) - [i25]Aryaman Reddi, Maximilian Tölle, Jan Peters, Georgia Chalvatzaki, Carlo D'Eramo:
Robust Adversarial Reinforcement Learning via Bounded Rationality Curricula. CoRR abs/2311.01642 (2023) - [i24]Gabriele Tiboni, Pascal Klink, Jan Peters, Tatiana Tommasi, Carlo D'Eramo, Georgia Chalvatzaki:
Domain Randomization via Entropy Maximization. CoRR abs/2311.01885 (2023) - [i23]Vignesh Prasad, Lea Heitlinger, Dorothea Koert, Ruth Stock-Homburg, Jan Peters, Georgia Chalvatzaki:
Learning Multimodal Latent Dynamics for Human-Robot Interaction. CoRR abs/2311.16380 (2023) - [i22]Niklas Funk, Erik Helmut, Georgia Chalvatzaki, Roberto Calandra, Jan Peters:
Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation. CoRR abs/2312.01236 (2023) - 2022
- [j6]Snehal Jauhri, Jan Peters, Georgia Chalvatzaki:
Robot Learning of Mobile Manipulation With Reachability Behavior Priors. IEEE Robotics Autom. Lett. 7(3): 8399-8406 (2022) - [j5]Tuan Dam, Georgia Chalvatzaki, Jan Peters, Joni Pajarinen:
Monte-Carlo Robot Path Planning. IEEE Robotics Autom. Lett. 7(4): 11213-11220 (2022) - [j4]Karinne Ramirez-Amaro, Daniel Leidner, Georgia Chalvatzaki:
The Value of Diversity in the Robotics and Automation Society [Women in Engineering]. IEEE Robotics Autom. Mag. 29(3): 153-154 (2022) - [c30]Vignesh Prasad, Dorothea Koert, Ruth Stock-Homburg, Jan Peters, Georgia Chalvatzaki:
MILD: Multimodal Interactive Latent Dynamics for Learning Human-Robot Interaction. Humanoids 2022: 472-479 - [c29]Carlo D'Eramo, Georgia Chalvatzaki:
Prioritized Sampling with Intrinsic Motivation in Multi-Task Reinforcement Learning. IJCNN 2022: 1-8 - [c28]Puze Liu, Kuo Zhang, Davide Tateo, Snehal Jauhri, Jan Peters, Georgia Chalvatzaki:
Regularized Deep Signed Distance Fields for Reactive Motion Generation. IROS 2022: 6673-6680 - [c27]Julen Urain, An T. Le, Alexander Lambert, Georgia Chalvatzaki, Byron Boots, Jan Peters:
Learning Implicit Priors for Motion Optimization. IROS 2022: 7672-7679 - [c26]Tim Schneider, Boris Belousov, Georgia Chalvatzaki, Diego Romeres, Devesh K. Jha, Jan Peters:
Active Exploration for Robotic Manipulation. IROS 2022: 9355-9362 - [c25]Niklas Funk, Svenja Menzenbach, Georgia Chalvatzaki, Jan Peters:
Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery. IROS 2022: 10215-10222 - [c24]Ioannis Asmanis, Panagiotis Mermigkas, Georgia Chalvatzaki, Jan Peters, Petros Maragos:
A Semantic Enhancement of Unified Geometric Representations for Improving Indoor Visual SLAM. UR 2022: 288-294 - [i21]Snehal Jauhri, Jan Peters, Georgia Chalvatzaki:
Robot Learning of Mobile Manipulation with Reachability Behavior Priors. CoRR abs/2203.04051 (2022) - [i20]Niklas Funk, Svenja Menzenbach, Georgia Chalvatzaki, Jan Peters:
Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery. CoRR abs/2203.04120 (2022) - [i19]Puze Liu, Kuo Zhang, Davide Tateo, Snehal Jauhri, Jan Peters, Georgia Chalvatzaki:
Regularized Deep Signed Distance Fields for Reactive Motion Generation. CoRR abs/2203.04739 (2022) - [i18]Lei Xu, Tianyu Ren, Georgia Chalvatzaki, Jan Peters:
Accelerating Integrated Task and Motion Planning with Neural Feasibility Checking. CoRR abs/2203.10568 (2022) - [i17]Alexander Lambert, An T. Le, Julen Urain, Georgia Chalvatzaki, Byron Boots, Jan Peters:
Learning Implicit Priors for Motion Optimization. CoRR abs/2204.05369 (2022) - [i16]Tuan Dam, Georgia Chalvatzaki, Jan Peters, Joni Pajarinen:
Monte-Carlo Robot Path Planning. CoRR abs/2208.02673 (2022) - [i15]Julen Urain, Niklas Funk, Jan Peters, Georgia Chalvatzaki:
SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion. CoRR abs/2209.03855 (2022) - [i14]Puze Liu, Kuo Zhang, Davide Tateo, Snehal Jauhri, Zhiyuan Hu, Jan Peters, Georgia Chalvatzaki:
Safe reinforcement learning of dynamic high-dimensional robotic tasks: navigation, manipulation, interaction. CoRR abs/2209.13308 (2022) - [i13]Ali Younes, Simone Schaub-Meyer, Georgia Chalvatzaki:
An information-theoretic approach to unsupervised keypoint representation learning. CoRR abs/2209.15404 (2022) - [i12]Luca Lach, Niklas Funk, Robert Haschke, Séverin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki:
Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing. CoRR abs/2210.02054 (2022) - [i11]Kay Hansel, Julen Urain, Jan Peters, Georgia Chalvatzaki:
Hierarchical Policy Blending as Inference for Reactive Robot Control. CoRR abs/2210.07890 (2022) - [i10]Vignesh Prasad, Dorothea Koert, Ruth Stock-Homburg, Jan Peters, Georgia Chalvatzaki:
MILD: Multimodal Interactive Latent Dynamics for Learning Human-Robot Interaction. CoRR abs/2210.12418 (2022) - [i9]Tim Schneider, Boris Belousov, Georgia Chalvatzaki, Diego Romeres, Devesh K. Jha, Jan Peters:
Active Exploration for Robotic Manipulation. CoRR abs/2210.12806 (2022) - [i8]An T. Le, Kay Hansel, Jan Peters, Georgia Chalvatzaki:
Hierarchical Policy Blending As Optimal Transport. CoRR abs/2212.01938 (2022) - 2021
- [j3]George Moustris, Nikolaos Kardaris, Antigoni Tsiami, Georgia Chalvatzaki, Petros Koutras, Athanasios Dometios, Paris Oikonomou, Costas S. Tzafestas, Petros Maragos, Eleni Efthimiou, Xanthi S. Papageorgiou, Stavroula-Evita Fotinea, Yiannis Koumpouros, Anna Vacalopoulou, Effie Papageorgiou, Alexandra Karavasili, Foteini Koureta, Dimitris Dimou, Alexandros Nikolakakis, Konstantinos Karaiskos, Panagiotis Mavridis:
The i-Walk Lightweight Assistive Rollator: First Evaluation Study. Frontiers Robotics AI 8: 677542 (2021) - [c23]Niklas Funk, Georgia Chalvatzaki, Boris Belousov, Jan Peters:
Learn2Assemble with Structured Representations and Search for Robotic Architectural Construction. CoRL 2021: 1401-1411 - [c22]Qin Li, Georgia Chalvatzaki, Jan Peters, Yong Wang:
Directed Acyclic Graph Neural Network for Human Motion Prediction. ICRA 2021: 3197-3204 - [c21]Andrew S. Morgan, Daljeet Nandha, Georgia Chalvatzaki, Carlo D'Eramo, Aaron M. Dollar, Jan Peters:
Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning. ICRA 2021: 6672-6678 - [c20]Samuele Tosatto, Georgia Chalvatzaki, Jan Peters:
Contextual Latent-Movements Off-Policy Optimization for Robotic Manipulation Skills. ICRA 2021: 10815-10821 - [c19]Danai Efstathiou, Georgia Chalvatzaki, Athanasios Dometios, Dionisios Spiliopoulos, Costas S. Tzafestas:
Deep Leg Tracking by Detection and Gait Analysis in 2D Range Data for Intelligent Robotic Assistants. IROS 2021: 2657-2662 - [i7]Tianyu Ren, Georgia Chalvatzaki, Jan Peters:
Extended Task and Motion Planning of Long-horizon Robot Manipulation. CoRR abs/2103.05456 (2021) - [i6]Andrew S. Morgan, Daljeet Nandha, Georgia Chalvatzaki, Carlo D'Eramo, Aaron M. Dollar, Jan Peters:
Model Predictive Actor-Critic: Accelerating Robot Skill Acquisition with Deep Reinforcement Learning. CoRR abs/2103.13842 (2021) - 2020
- [c18]Georgia Chalvatzaki, Petros Koutras, Antigoni Tsiami, Costas S. Tzafestas, Petros Maragos:
i-Walk Intelligent Assessment System: Activity, Mobility, Intention, Communication. ECCV Workshops (4) 2020: 500-517 - [c17]Isidoros Marougkas, Petros Koutras, Nikolaos Kardaris, Georgios Retsinas, Georgia Chalvatzaki, Petros Maragos:
How to Track Your Dragon: A Multi-attentional Framework for Real-Time RGB-D 6-DOF Object Pose Tracking. ECCV Workshops (2) 2020: 682-699 - [c16]George Moustris, Nikolaos Kardaris, Antigoni Tsiami, Georgia Chalvatzaki, Petros Koutras, Athanasios Dometios, Paris Oikonomou, Costas S. Tzafestas, Petros Maragos, Eleni Efthimiou, Xanthi S. Papageorgiou, Stavroula-Evita Fotinea, Yiannis Koumpouros, Anna Vacalopoulou, Alexandra Karavasili, Alexandros Nikolakakis, Konstantinos Karaiskos, Panagiotis Mavridis:
The I-Walk Assistive Robot - A Multimodal Intelligent Robotic Rollator Providing Cognitive and Mobility Assistance to the Elderly and Motor-Impaired. HFR 2020: 31-45 - [i5]Isidoros Marougkas, Petros Koutras, Nikolaos Kardaris, Georgios Retsinas, Georgia Chalvatzaki, Petros Maragos:
How to track your dragon: A Multi-Attentional Framework for real-time RGB-D 6-DOF Object Pose Tracking. CoRR abs/2004.10335 (2020) - [i4]Nikolaos Gkanatsios, Georgia Chalvatzaki, Petros Maragos, Jan Peters:
Orientation Attentive Robot Grasp Synthesis. CoRR abs/2006.05123 (2020) - [i3]Samuele Tosatto, Georgia Chalvatzaki, Jan Peters:
Contextual Latent-Movements Off-Policy Optimization for Robotic Manipulation Skills. CoRR abs/2010.13766 (2020)
2010 – 2019
- 2019
- [b1]Georgia Chalvatzaki:
Ανθρωποκεντρική μοντελοποίηση με εφαρμογή στη ρομποτική υποβοήθησης: στοχαστική εκτίμηση και ρομποτική μάθηση στη λήψη αποφάσεων. National Technical University of Athens, Greece, 2019 - [j2]Georgia Chalvatzaki, Xanthi S. Papageorgiou, Petros Maragos, Costas S. Tzafestas:
Learn to Adapt to Human Walking: A Model-Based Reinforcement Learning Approach for a Robotic Assistant Rollator. IEEE Robotics Autom. Lett. 4(4): 3774-3781 (2019) - [c15]Petros Koutras, Georgia Chalvatzaki, Antigoni Tsiami, Alexandros Nikolakakis, Costas S. Tzafestas, Petros Maragos:
Video Processing and Learning in Assistive Robotic Applications. ICIP 2019: 2457 - [c14]Georgia Chalvatzaki, Petros Koutras, Jack Hadfield, Xanthi S. Papageorgiou, Costas S. Tzafestas, Petros Maragos:
LSTM-based Network for Human Gait Stability Prediction in an Intelligent Robotic Rollator. ICRA 2019: 4225-4232 - [c13]Jack Hadfield, Georgia Chalvatzaki, Petros Koutras, Mehdi Khamassi, Costas S. Tzafestas, Petros Maragos:
A Deep Learning Approach for Multi-View Engagement Estimation of Children in a Child-Robot Joint Attention Task. IROS 2019: 1251-1256 - 2018
- [j1]Georgia Chalvatzaki, Xanthi S. Papageorgiou, Costas S. Tzafestas, Petros Maragos:
Augmented Human State Estimation Using Interacting Multiple Model Particle Filters With Probabilistic Data Association. IEEE Robotics Autom. Lett. 3(3): 1872-1879 (2018) - [c12]Georgia Chalvatzaki, Xanthi S. Papageorgiou, Petros Maragos, Costas S. Tzafestas:
User-Adaptive Human-Robot Formation Control for an Intelligent Robotic Walker Using Augmented Human State Estimation and Pathological Gait Characterization. IROS 2018: 6016-6022 - [c11]Mehdi Khamassi, Georgia Chalvatzaki, Theodore Tsitsimis, George Velentzas, Costas S. Tzafestas:
A Framework for Robot Learning During Child-Robot Interaction with Human Engagement as Reward Signal. RO-MAN 2018: 461-464 - [i2]Georgia Chalvatzaki, Petros Koutras, Jack Hadfield, Xanthi S. Papageorgiou, Costas S. Tzafestas, Petros Maragos:
On-line Human Gait Stability Prediction using LSTMs for the fusion of Deep-based Pose Estimation and LRF-based Augmented Gait State Estimation in an Intelligent Robotic Rollator. CoRR abs/1812.00252 (2018) - [i1]Jack Hadfield, Georgia Chalvatzaki, Petros Koutras, Mehdi Khamassi, Costas S. Tzafestas, Petros Maragos:
A Deep Learning Approach for Multi-View Engagement Estimation of Children in a Child-Robot Joint Attention task. CoRR abs/1812.00253 (2018) - 2017
- [c10]Georgia Chalvatzaki, Xanthi S. Papageorgiou, Costas S. Tzafestas, Petros Maragos:
Comparative experimental validation of human gait tracking algorithms for an intelligent robotic rollator. ICRA 2017: 6026-6031 - [c9]Georgia Chalvatzaki, Xanthi S. Papageorgiou, Costas S. Tzafestas:
Towards a user-adaptive context-aware robotic walker with a pathological gait assessment system: First experimental study. IROS 2017: 5037-5042 - [c8]Xanthi S. Papageorgiou, Georgia Chalvatzaki, Athanasios Dometios, Costas S. Tzafestas, Petros Maragos:
Intelligent Assistive Robotic Systems for the elderly: Two real-life use cases. PETRA 2017: 360-365 - [c7]Georgia Chalvatzaki, Xanthi S. Papageorgiou, Costas S. Tzafestas, Petros Maragos:
Estimating double support in pathological gaits using an HMM-based analyzer for an intelligent robotic walker. RO-MAN 2017: 101-106 - 2016
- [c6]Xanthi S. Papageorgiou, Georgia Chalvatzaki, Konstantinos-Nektarios Lianos, Christian Werner, Klaus Hauer, Costas S. Tzafestas, Petros Maragos:
Experimental validation of human pathological gait analysis for an assisted living intelligent robotic walker. BioRob 2016: 1086-1091 - [c5]Georgia Chalvatzaki, Xanthi S. Papageorgiou, Christian Werner, Klaus Hauer, Costas S. Tzafestas, Petros Maragos:
Experimental comparison of human gait tracking algorithms: Towards a context-aware mobility assistance robotic walker. MED 2016: 719-724 - 2015
- [c4]Xanthi S. Papageorgiou, Georgia Chalvatzaki, Costas S. Tzafestas, Petros Maragos:
Hidden markov modeling of human pathological gait using laser range finder for an assisted living intelligent robotic walker. IROS 2015: 6342-6347 - 2014
- [c3]Xanthi S. Papageorgiou, Costas S. Tzafestas, Petros Maragos, Georgios Pavlakos, Georgia Chalvatzaki, George Moustris, Iasonas Kokkinos, Angelika Peer, Bartlomiej Stanczyk, Evita-Stavroula Fotinea, Eleni Efthimiou:
Advances in Intelligent Mobility Assistance Robot Integrating Multimodal Sensory Processing. HCI (6) 2014: 692-703 - [c2]Xanthi S. Papageorgiou, Georgia Chalvatzaki, Costas S. Tzafestas, Petros Maragos:
Hidden Markov modeling of human normal gait using laser range finder for a mobility assistance robot. ICRA 2014: 482-487 - [c1]Georgia Chalvatzaki, Georgios Pavlakos, Kevis-Kokitsi Maninis, Xanthi S. Papageorgiou, Vassilis Pitsikalis, Costas S. Tzafestas, Petros Maragos:
Towards an intelligent robotic walker for assisted living using multimodal sensorial data. MobiHealth 2014: 156-159
Coauthor Index
[j11] [j10] [j9] [c42] [c41] [c40] [c39] [i36] [i35] [i33] [i32] [i31] [i30] [c36] [c35] [c34] [c33] [c32] [c31] [i27] [i25] [i24] [i23] [i22] [j6] [j5] [c30] [c28] [c27] [c26] [c25] [c24] [i21] [i20] [i19] [i18] [i17] [i16] [i15] [i14] [i12] [i11] [i10] [i9] [i8] [c23] [c22] [c21] [c20] [i7] [i6] [i4] [i3]
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