Publications

iChores: Intuitive Collaboration with Household Robots in Everyday Settings
In Robotics and Automation Practice (RA-P)
– Antonio Gonzalez, Peter Hoenig, Matthias Hirschmanner, Karolina Zrobek, Pawel Gajewski, Tessa Pulli, Petr Vanc, Simon Dratva, Gabriela Sejnova, Radoslav Skoviera, Karla Stepanova, Michal Vavrecka, Markus Vincze, Bipin Indurkhya

pdf 🗎, code ⚙, RA-P Xplore, video

Learning Compositional Symbolic Task Rules from Demonstrations with Inductive Logic Programming
Presented at ICRA 2026 workshop on Semantics for Reliable Robot Autonomy
– Oleh Borys and Karla Stepanova

pdf 🗎

Learning Transferable Motor Skills for Geometry-Aware Robotic Surface Tasks
Presented at ICRA 2026 workshop Geometry in the Age of Data‑Driven Robotics
– Miroslav David, Karla Stepanova, Robert Babuska

pdf 🗎 , code ⚙

How Should We Teach Robots? A Comparison of Kinesthetic, Joystick, and Gesture-Based Teaching
Presented at KUZ/CAL 2026 conference in Třešť
– Petr Vanc, Jan Kristof Behrens, Václav Hlaváč,
Karla Štěpánová

project website

Will multimodal large language models ever achieve deep understanding of the world?
Frontiers in Systems Neuroscience
– Igor Farkaš, Michal Vavrečka, Stefan Wermter
pdf 🗎, Frontiers in Neuroscience

𝗣𝗥𝗔𝗚: 𝗣𝗿𝗼𝗰𝗲𝗱𝘂𝗿𝗮𝗹 𝗔𝗰𝘁𝗶𝗼𝗻 𝗦𝗲𝗾𝘂𝗲𝗻𝗰𝗲 𝗦𝘆𝗺𝗯𝗼𝗹𝗶𝗰 𝗚𝗲𝗻𝗲𝗿𝗮𝘁𝗼𝗿 𝗮𝘀 𝗮 𝗠𝗲𝗰𝗵𝗮𝗻𝗶𝘀𝗺 𝗳𝗼𝗿 𝗔𝘂𝘁𝗼𝗻𝗼𝗺𝗼𝘂𝘀 𝗟𝗲𝗮𝗿𝗻𝗶𝗻𝗴
IEEE ICDL 2025
– Radoslav Škoviera, Michal Vavrečka, Gabriela Šejnová, Karla Štěpánová

pdf 🗎, code ⚙, video 📼

ILeSiA: Interactive Learning of Robot Situational Awareness from Camera Input
IEEE RA-L 2025
– Petr Vanc, Giovanni Franzese, and Jan Kristof Behrens, Cosimo Della Santina, Karla Stepanova, Jens Kober, and Robert Babuska

pdf 🗎, code ⚙, video 📼

Interactive Robotic Moving Cable Segmentation by Motion Correlation
IEEE RA-L 2025
– Ondřej Holešovský, Radoslav Škoviera, Václav Hlaváč

pdf 🗎, code ⚙ and video 📼, dataset

Closed Loop Interactive Embodied Reasoning for Robot Manipulation
IEEE ICRA 2025
– M. Nazarczuk, J. K. Behrens, K. Stepanova, M. Hoffmann and K. Mikolajczyk

pdf 🗎, web ⚙, video 📼

CoBOS: Constraint-Based Online Scheduler for Human-Robot Collaboration IEEE IROS 2024
– Marina Ionova, and Jan Kristof Behrens

pdf 🗎, code ⚙, video 📼

Bridging Language, Vision and Action: Multimodal VAEs in Robotic Manipulation Tasks IEEE IROS 2024

– Gabriela Sejnova, Michal Vavrecka, and Karla Stepanova

pdf 🗎, code ⚙, video 📼

MovingCables: Moving Cable Segmentation
Method and Dataset IEEE RA-L 2024
– Ondřej Holešovský, Radoslav Škoviera, and Václav Hlaváč

pdf 🗎, code ⚙, videos 📼

Single-Grasp Deformable Object Discrimination: The Effect of Gripper Morphology, Sensing Modalities, and Action Parameters IEEE T-RO 2024

– Michal Pliska, Shubhan Patni, Michal Mares, Pavel Stoudek, Zdenek Straka, Karla Stepanova, and Matej Hoffmann

pdf 🗎

Adaptive Compression of the Latent Space in Variational Autoencoders ICANN 2024

– Gabriela Sejnova, and Karla Stepanova

pdf 🗎, code ⚙

Integrating augmented reality within digital twins for smart robotic manufacturing systems ETFA 2024
– Tomáš Jochman, Václav Voltr, Václav Kubáček, Ondřej Švec, Pavel Burget, Václav Hlaváč
pdf 🗎

Bridging the Gap: Digital Twin Integration and Evaluation in Robotic Multi-Axis Additive Manufacturing INDIN 2024
– Tomáš Jochman, Václav Voltr, Václav Kubáček, Ondřej Švec, Pavel Burget, Václav Hlaváč
pdf 🗎

Imitrob: Imitation Learning Dataset for Training and Evaluating 6D Object Pose Estimators  IEEE RA-L 2023

– J. Sedlar, K. Stepanova, R. Skoviera, J. K. Behrens, M. Tuna, G. Sejnova, J. Sivic & R. Babuska

pdf 🗎, code ⚙, video 📼

Communicating human intent to a robotic companion by multi-type gesture sentences IROS 2023

– P. Vanc, J. K. Behrens, K. Stepanova, V. Hlavac

pdf 🗎, code ⚙, video 📼

Context-aware robot control using gesture episodes  ICRA 2023

– P. Vanc, J. K. Behrens, K. Stepanova

pdf 🗎, code ⚙

Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation. Robotics and Computer-Integrated Manufacturing (2022)
– Stepanova, K., Rozlivek, J., Puciow, F., Krsek, P., Pajdla, T. & Hoffmann, M.

pdf 🗎, video 📼

SurfMan: Generating Smooth End-Effector Trajectories on 3D Object Surfaces for Human-Demonstrated Pattern Sequence RA-L and IROS 2022

– R. Skoviera, J. K. Behrens and K. Stepanova

pdf 🗎, code ⚙, video 📼

Feedback-Driven Incremental Imitation Learning Using Sequential VAE ICDL 2022

– G. Sejnova & K. Stepanova

pdf 🗎, code ⚙, video 📼

Benchmarking Multimodal Variational Autoencoders: CdSprites+ Dataset and Toolkit 2022 At arXiv preprint arXiv:2209.03048

– G. Sejnova, M. Vavrecka, K. Stepanova, and Tadahiro Taniguchi

pdf 🗎, code ⚙

Embodied Reasoning for Discovering Object Properties via Manipulation ICRA 2021

– J.K.Behrens, M.Nazarczuk, K.Stepanova, M. Hoffmann, Y. Demiris, and K. Mikolajczyk

pdf 🗎, code ⚙, video 📼

Experimental Comparison between Event and Global Shutter Cameras Sensors 2021
Ondřej Holešovský, Radoslav Škoviera, Václav Hlaváč, and Roman Vítek

DOI 🗎, PDF 🗎, Dataset ⚙

Multisensorial robot calibration framework and toolbox Humanoid Robots (https://drive.google.com/file/d/1iiIgpIlK2S5aXLhQlaLMu0ujcuXZ73gc/viewHumanoids), IEEE-RAS International Conference

– Rozlivek, J., Rustler, L., Stepanova, K., and Hoffmann, M.

pdf 🗎, video 📼, code ⚙

Simultaneous task allocation and motion scheduling for complex tasks executed by multiple robots ICRA 2020

– J. Behrens, K.Stepanova, and R. Babuska

pdf 🗎, code ⚙, video 📼

Robot self-calibration using multiple kinematic chains – a simulation study on the iCub humanoid robot. RA-L and ICRA (2019)
– Štěpánová K., Matěj Hoffmann, and Tomáš Pajdla

pdf 🗎, video 📼

Specifying Dual-Arm Robot Planning Problems Through Natural Language and Demonstration RA-L and ICRA 2019

– J.Behrens, K.Stepanova, R.Lange, and R.Skoviera

pdf 🗎, code ⚙, video 📼

Mapping language to vision in a real-world robotic scenario. IEEE Transactions on Cognitive and Developmental Systems (2018)
– Štěpánová K., Frederico B. Klein, Angelo Cangelosi, and Vavrečka M.

pdf 🗎