Publications

[J]: International Journal, [C]: International Conference, [NJ]: National Journal, [NC]: National Conference, [WS]: Workshop

Under Review

[J] A. Ahmetoglu, M.Y. Seker, J. Piater, E. Oztop, E. Ugur, DeepSym: Deep Symbol Generation and Rule Learning from Unsupervised Continuous Robot Interaction for Planning, under review. pdf video
[J] A. Tekden, A. Erdem, E. Erdem, T. Asfour, E. Ugur, Object and Relation Centric Representations for Push Effect Prediction, under review. pdf video
[J] S.E. Ada, E. Ugur, H.L. Akin, Generalization in transfer learning, under review. pdf video

2021

[J23] M.Y. Seker, A. Ahmetoglu, Y. Nagai, M. Asada, E. Oztop, E. Ugur, Imitation and Mirror Systems in Robots through Deep Modality Blending Networks, Neural Networks, 2021. link pdf video
[J22] Tugce Joy, Emre Ugur, Inci Ayhan, Trick the Body Trick the Mind: Avatar representation affects the perception of available action possibilities in Virtual Reality, Virtual Reality (VIRE), 2021 published online. link pdf
[J21] Hamit Basgol, Inci Ayhan, Emre Ugur, Time Perception: A Review on Psychological, Computational and Robotic Models, IEEE Transactions on Cognitive and Developmental Systems (TCDS), 2021 published online. link pdf
[J20] Melisa I. Sener, Yukie Nagai, Erhan Oztop, Emre Ugur, Exploration with Intrinsic Motivation usingObject-Action-Outcome Latent Space, IEEE Transactions on Cognitive and Developmental Systems (TCDS), 2021 published online. link pdf
[J19] A. Ahmetoglu, E. Ugur, M. Asada, E. Oztop, High-level Features for Resource Economy and Fast Learning in SkillTransfer, Advanced Robotics, 2021. link pdf
[C38] M.T. Akbulut, U. Bozdogan, A. Tekden, E. Ugur, Reward Conditioned Neural Movement Primitives for Population Based Variational Policy Optimization, International Conference on Robotics and Automation (ICRA), 2021. pdf video
[C37] H. Basgol, I. Ayhan, E. Ugur, A Self-Supervised and Predictive Processing-Based Model of Event Segmentation and Learning, CogSci 2021: Proceedings of the Annual Meeting of the Cognitive Science Society, 2021 presented as poster. pdf
[C36] S. Andac, B. Sezer, I. Ayhan, E. Ugur, E. Oztop, Effects of Scaling Shoulder Width on Passability Affordance in Virtual Reality, CogSci 2021: Proceedings of the Annual Meeting of the Cognitive Science Society, 2021 presented as poster. pdf
[C35] B. Bayram, E. Ugur, M. Asada, E. Oztop, An Ecologically Valid Reference Frame for Perspective Invariant Action Recognition , 11th IEEE International Conference on Development and Learning (ICDL), 2021. pdf
[C34] E. Arditi, T. Kunavar, E. Ugur, J. Babic, E. Oztop, Inferring Cost Functions Using Reward Parameter Search and Policy Gradient Reinforcement Learning, IECON 2021 : Annual Conference of the IEEE Industrial Electronics Society, 2021. pdf
[NC9] M. Pekmezci, E. Ugur, E. Oztop, Learning System Dynamics via Deep Recurrent and Conditional Neural Systems, 29. IEEE Sinyal İşleme ve İletişim Uygulamaları Kurultayı, 2021. pdf
[W19] Y. Yildirim, E. Ugur, Learning Social Navigation from Demonstrations with Deep Neural Networks, RO-MAN 2021 Workshop on Robot Behavior Adaptation to Human Social Norms ({TSAR}) , 2021 Poster presentation. pdf

2020

[J18] E. Ugur, H. Girgin, Compliant Parametric Dynamic Movement Primitives, Robotica, 38(3), pp. 457-474, 2020. pdf video link
[C33] Tuluhan Akbulut, E. Oztop, Y. Seker, H. Xue, A. Tekden, Emre Ugur, ACNMP: Flexible Skill Formation with Learning from Demonstration and Reinforcement Learning via Representation Sharing, Conference on Robot Learning (CoRL), 2020. pdf video
[C32] A. E. Tekden, A. Erdem, E. Erdem, M. Imre, M.Y. Seker, E. Ugur, Belief Regulated Dual Propagation Nets for Learning Action Effects on Articulated Multi-Part Objects, International Conference on Robotics and Automation (ICRA), 2020. pdf video
[C31] O.B. Ozturkcu, E. Ugur, E. Oztop, High-level representations through unconstrained sensorimotor learning, IEEE International Conference on Development and Learning (ICDL), 2020. pdf
[NJ3] S. Bugur, E. Ugur, Computational Modeling of Object-Directed Action Prediction Development, Pamukkale Üniversitesi Mühendislik Bilimleri Dergisi, 26(5), pp. 974-982, 2020. link pdf
[NJ2] M. T. Akbulut, Emre Ugur, Learning Object Affordances from Sensory-Motor Coordination Using Latent Space and Bayesian Networks, International Journal of Intelligent Systems and Applications in Engineering, 8(2), 2020. link pdf
[NJ1] Utku Bozdogan, Emre Ugur, Learning from Multiple Demonstrations With Different Modes of Operations, International Journal of Intelligent Systems and Applications in Engineering, 8(1), pp. 37-44, 2020. link pdf
[NC8] Hamit Basgol, Emre Ugur, Insan Görsel Karmasıklık Kararlarının Derin Ögrenme ile Tahmin Edilmesi, 28nd Signal Processing and Communications Applications Conference (SIU), 2020. pdf
[W18] E. Ugur, E. Samur, B. Ugurlu, D. E. Barkana, A. Kucukyilmaz, and O. Bebek, Intelligent control of exoskeletons through a novel learning-from-demonstration method, CYBATHLON Symposium, 2020 Poster presentation. pdf
[W17] A. Ahmetoglu, Y. Seker, E. Oztop, M. Asada, Emre Ugur, Locally Weighted CNMPs for Generating Flexible Action Sequences, Winter Workshop on Mechanism of Brain and Mind, 2020 Poster presentation. pdf
[W16] Hamit Basgol, Inci Ayhan, Emre Ugur, A Computational Model of Event Segmentation and Learning, International Virtual Symposium on Brain and Cognitive Science, 2020 Poster presentation. pdf
[W15] M. Yunus Seker, Erhan Oztop, Mete Tuluhan Akbulut, Yukie Nagai, Minoru Asada, Emre Ugur, Towards a Mirror Neuron System via Dual Channel Conditional Neural Movement Primitives, ICRA Brain-PIL Workshop, New advances in brain-inspired perception, interaction and learning, ICRA , 2020 Poster presentation. pdf
[W14] M.H. Kurtoglu, Y. Seker, E. Samur, E. Ugur, Predicting Whole Body Motion Trajectories using Conditional Neural Movement Primitives, ICRA 2nd Workshop on Long-term Human Motion Prediction , 2020 Poster presentation. pdf
[W13] I. Guzey, A. Tekden, E. Samur, E. Ugur, Human Motion Prediction With Graph Neural Networks, ICRA 2nd Workshop on Long-term Human Motion Prediction , 2020 Poster presentation. pdf

2019

[J17] T. Taniguchi, E. Ugur, M. Hoffmann, L. Jamone, T. Nagai, B. Rosman, T. Matsuka, N. Iwahashi, E. Oztop, J. Piater, F. Worgotter, Symbol Emergence in Cognitive Developmental Systems: a Survey, IEEE Transactions on Cognitive and Developmental Systems (TCDS), 11(4), 2019. link pdf
[J16] M. Imre, E. Oztop, Y. Nagai, E. Ugur, Affordance-Based Altruistic Robotic Architecture for Human-Robot Collaboration, Adaptive Behavior, 27(4), pp. 223-241, 2019. pdf video link
[J15] M.Y. Seker, A.E. Tekden, E. Ugur, Deep Effect Trajectory Prediction in Robot Manipulation, Robotics and Autonomous Systems (ROBOT), 119, pp. 173-184, 2019. pdf video link
[J14] S. Bugur, E. Oztop, Y. Nagai, E. Ugur, Effect regulated projection of robot’s action space for production and prediction of manipulation primitives through learning progress and predictability based exploration, IEEE Transactions on Cognitive and Developmental Systems (TCDS), 2019. link pdf
[J13] T. Inamura, H. Yokoyama, E. Ugur, X. Hinaut, M. Beetze, T. Taniguchi, Section focused on machine learning methods for high-level cognitive capabilities in robotics, Advanced Robotics, 33(11), pp. 537-538, 2019. pdf link
[J12] Tadahiro Taniguchi, Emre Ugur, Tetsuya Ogata, Takayuki Nagai, Yiannis Demiris, Editorial: Machine Learning Methods for High-Level Cognitive Capabilities in Robotics, Front. Neurorobot, 13(83), pp. 1-3, 2019. pdf link
[C30] M.Y. Seker, M. Imre, J. Piater, E. Ugur, Conditional Neural Movement Primitives, Robotics: Science and Systems (RSS), 2019. pdf video link
[C29] B. Ugurlu, M. Acer, D. E. Barkana, I Gocek, A. Kucukyilmaz, Y. Z. Arslan, H. Basturk, E. Samur, E. Ugur, R. Unal, O. Bebek, A Soft+Rigid Hybrid Exoskeleton Concept: A Suit for Human State Sensing and an Exoskeleton for Assistance, International Conference on Rehabilitation Robotics (ICORR), pp. 518-523, 2019. pdf
[NC7] Mert Imre, M. Yunus Seker, Emre Ugur, Sartlı Sinirsel Motor Primitifleri ile Obje Manipülasyonu Ögrenimi, Turkiye Robotbilim Konferansi (Turkish Robotics Conference), 2019 poster. pdf
[NC6] Hamit Basgol, Emre Ugur, Zaman Algisina Iliskin Hesaplamalı Modeller ve Bilissel Robotbilim Modelleri, Turkiye Robotbilim Konferansi (Turkish Robotics Conference), 2019. pdf

2018

[J11] L. Jamone, E. Ugur, A. Cangelosi, L. Fadiga, A. Bernardino, J. Piater, J. Santos-Victor, Affordances in psychology, neuroscience and robotics: a survey, IEEE Transactions on Cognitive and Developmental Systems (TCDS), 10(1), pp. 4-25, 2018. pdf link
[J10] L. Jamone, E. Ugur, J. Santos-Victor, Guest Editorial Special Issue on Affordances, IEEE Transactions on Cognitive and Developmental Systems (TCDS), 10(1), pp. 1-3, 2018. pdf link
[C28] H. Girgin, E. Ugur, Associative Skill Memory Models, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6043-6048, 2018. pdf video link
[C27] A.E. Tekden, E. Ugur, Y. Nagai, E. Oztop, Modeling the Development of Infant Imitation using Inverse Reinforcement Learning, Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL), pp. 155-160, 2018. pdf
[C26] M.I. Sener, E. Ugur, Partitioning Sensorimotor Space by Predictability Principle in Intrinsic Motivation Systems, Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL), pp. 54-59, 2018. pdf
[NC5] M.I. Sener, E. Ugur, Icsel Motivasyon Sistemlerinde Ogrenme Uzayinin Tahmin Edilebilirlik Prensibiyle Bolunmesi, Turkiye Robotbilim Konferansi (Turkish Robotics Conference), pp. 164-169, 2018. pdf
[NC4] A.E. Tekden, E. Ugur, Kaldirma Aksiyonuyla Olusan Yorungenin Uzun Kisa Donem Hafiza Modeliyle Tahmini, Turkiye Robotbilim Konferansi (Turkish Robotics Conference), pp. 206-211, 2018. pdf
[NC3] M.Y. Seker, E. Cagirici, E. Ugur, Sekil Baglami Kullanarak Eylem-Etki Tahmini, Turkiye Robotbilim Konferansi (Turkish Robotics Conference), pp. 176-181, 2018. pdf
[NC2] H. Girgin, E. Ugur, Parametrik Dinamik Motor Primitifleri, Turkiye Robotbilim Konferansi (Turkish Robotics Conference), pp. 224-229, 2018. pdf
[W12] S. Bugur, Y. Nagai, E. Oztop, E. Ugur, A Computational Model For Action Prediction Development, ICDL Workshop on Workshop on Continual Unsupervised Sensorimotor Learning, 2018. pdf

2017

[J9] P. Zech, S. Haller, S. R. Lakani, B. Ridge, E. Ugur, J. Piater, Computational Models of Affordance in Robotics: A Taxonomy and Systematic Classification, Adaptive Behavior, 25(5), pp. 235-271, 2017. pdf link
[J8] E. Ugur, J. Piater, Emergent structuring of interdependent affordance learning tasks using intrinsic motivation and empirical feature selection, IEEE Transactions on Cognitive and Developmental Systems (TCDS), 9(4), pp. 328-340, 2017. pdf link
[J7] S. Hangl, E. Ugur, J. Piater, Autonomous robots: potential, advances and future direction, e \& i Elektrotechnik und Informationstechnik, 134(6), pp. 293-298, 2017. pdf link
[W11] H. Girgin, E. Ugur, Towards Generalizable Associative Skill Memories, ICRA Workshop on Learning and control for autonomous manipulation systems: the role of dimensionality reduction, 2017. pdf

2016

[C25] S. Krivic, E. Ugur, J. Piater, A Robust Pushing Skill For Object Delivery Between Obstacles, 12th Conference on Automation Science and Engineering ({CASE}), pp. 1184-1189, 2016. pdf
[C24] S. Hangl, E. Ugur, S. Szedmak, J. Piater, Robotic playing for hierarchical complex skill learning, Intelligent Robots and Systems (IROS), 2016 IEEE/RSJ International Conference on, pp. 2799-2804, 2016. pdf
[CH2] J. Piater, E. Ugur, Roboter fur Menschen — Menschen fur Roboter, Körperphantasien: Technisierung — Optimierung — Transhumanismus, pp. 75-86, 2016. pdf

2015

[J6] E. Ugur, Y. Nagai, H. Celikkanat, E. Oztop, Parental scaffolding as a bootstrapping mechanism for learning grasp affordances and imitation skills, Robotica, 33(05), pp. 1163-1180, 2015. pdf
[J5] E. Ugur, Y. Nagai, E. Sahin, E. Oztop, Staged development of robotic skills: Organizing sensorimotor space for behavior formation, affordance learning and imitation with motionese, IEEE Transactions on Autonomous Mental Development (TAMD), 7(2), pp. 119-139, 2015. pdf
[C23] B. Ridge, E. Ugur, A. Ude, Comparison of Action-Grounded and Non-Action-Grounded 3-D Shape Features for Object Affordance Classification, International Conference on Advanced Robotics (ICAR), pp. 635-641, 2015. pdf
[C22] S. Hangl, E. Ugur, S. Szedmak, A. Ude, J. Piater, Reactive, Task-specific Object Manipulation by Metric Reinforcement Learning, International Conference on Advanced Robotics (ICAR), pp. 557-564, 2015. pdf
[C21] E. Ugur, J. Piater, Bottom-Up Learning of Object Categories, Action Effects and Logical Rules: From Continuous Manipulative Exploration to Symbolic Planning, IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 2627-2633, 2015. pdf
[C20] E. Ugur, J. Piater, Refining discovered symbols with multi-step interaction experience, IEEE-RAS Intl. Conf. on Humanoid Robotics , pp. 1007-1012, 2015. pdf
[C19] E. Ugur, J. Baraglia, L. Schillingmann, Y. Nagai, Use of speech and motion cues for bootstrapping complex action learning in iCub, 5th International Conference on Development and Learning and on Epigenetic Robotics (ICDL), 2015 Extended abstract. pdf

2014

[C18] S. Szedmak, E. Ugur, J. Piater, Knowledge Propagation and Relation Learning for Predicting Action Effects, IEEE Intl. Conf. on Intelligent Robots and Systems, (IROS), pp. 623-629, 2014. pdf
[C17] E. Ugur, S. Szedmak, J. Piater, Bootstrapping paired-object affordance learning with learned single-affordance features, IEEE Intl. Conf. on Development and Learning and on Epigenetic Robotics (ICDL), pp. 468-473, 2014. pdf
[C16] E. Ugur, J. Piater, Emergent Structuring of Interdependent Affordance Learning Tasks, IEEE Intl. Conf. on Development and Learning and on Epigenetic Robotics (ICDL), pp. 481-486, 2014. pdf
[NC1] E. Ugur, S. Szedmak, J. Piater, Complex affordance learning based on basic affordances, 22nd Signal Processing and Communications Applications Conference (SIU), pp. 698-701, 2014. pdf
[W10] E. Ugur, Y. Nagai, E. Oztop, Affordance based imitation bootstrapping with motionese, Proceedings of IROS Workshop on Developmental Social Robotics, pp. 9-14, 2014. pdf
[W9] S. Hangl, S. Krivic, P. Zech, E. Ugur, J. Piater, Exploiting the Environment for Object Manipulation, Austrian Robotics Workshop, 2014 Best student paper award. pdf

2013

[C15] E. Ugur, Y. Nagai, E. Oztop, Parental scaffolding as a bootstrapping mechanism for learning grasp affordances and imitation skills, 22nd International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), pp. 167-174, 2013 Best Paper Research Award. pdf

2012

[C14] O. Kroemer, E. Ugur, E. Oztop, J. Peters, A Kernel-based Approach to Direct Action Perception, IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 2605-2610, 2012. pdf
[C13] M. Parlaktuna, D. Tunaoglu, E. Ugur, E. Sahin, Closed-loop primitives: A method to generate and recognize reaching actions from demonstration, IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 2015-2020, 2012. pdf
[C12] E. Ugur, E. Sahin, E. Oztop, Self-discovery of motor primitives and learning grasp affordances, IEEE Intl. Conf. on Intelligent Robots and Systems (IROS), pp. 3260-3267, 2012. pdf

2011

[J4] E. Ugur, E. Oztop, E. Sahin, Goal emulation and planning in perceptual space using learned affordances, Robotics and Autonomous Systems (ROBOT), 59 (7–8), pp. 580-595, 2011. pdf
[C11] E. Ugur, E. Sahin, E. Oztop, Unsupervised learning of object affordances for planning in a mobile manipulation platform, IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 4326-4332, 2011. pdf
[C10] E. Ugur, E. Oztop, E. Sahin, Going beyond the perception of affordances: Learning how to actualize them through behavioral parameters, IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 4768-4773, 2011. pdf
[C9] E. Ugur, H. Celikkanat, E. Sahin, Y. Nagai, E. Oztop, Learning to Grasp with Parental Scaffolding, IEEE Intl. Conf. on Humanoid Robotics , pp. 480-486, 2011. pdf
[W8] E. Ugur, Y. Shimizu, and E. Oztop, H. Imamizu, Reconstruction of Grasp Posture from MEG Brain Activity, Neuro2011, 2011 Poster presentation. pdf

2010

[J3] E. Ugur, E. Sahin, Traversability: A case study for learning and perceiving affordances in robots, Adaptive Behavior, 18(3–4), pp. 258-284, 2010. pdf
[W7] E. Ugur, E. Oztop, E. Sahin, Discovering action-oriented object meanings in an anthropomorphic robot platform, Neuro2010, 2010 Poster presentation. pdf
[W6] B. Moore, E. Ugur, E. Oztop, Biologically inspired robot grasping through human-in-the-loop robot control, Workshop on grasp planning and task learning by imitation, (IROS), 2010. pdf

2009

[C8] E. Ugur, E. Sahin, E. Oztop, Predicting future object states using learned affordances, 24th International Symposium on Computer and Information (ISCIS), pp. 415-219, 2009. pdf
[C7] E. Ugur, E. Sahin, E. Oztop, Affordance learning from range data for multi-step planning, 9th International Conference on Epigenetic Robotics (EpiRob), pp. 177-184, 2009. pdf
[W5] E. Ugur, E. Oztop, E. Sahin, Learning object affordances for planning, Proceedings of the Workshop on Approaches to Sensorimotor Learning on Humanoid Robots, ICRA 09, pp. 38-39, 2009. pdf
[W4] E. Oztop, B. Ozyer, E. Ugur, M. Kawato, From human grasping to robot grasping, Proceedings of the 32st Annual Meeting of the Japan Neuroscience Society, 2009 Poster presentation. pdf
[W3] E. Ugur, E. Oztop, E. Sahin, Learning Affordance Relations in a Mobile Robot with Limited Manipulation Capabilities, Proceedings of the 32st Annual Meeting of the Japan Neuroscience Society, 2009 Poster presentation. pdf
[W2] E. Ugur, E. Sahin, E. Oztop, Use of range cameras for the perception of push and grasp affordances, Computer Vision for Humanoid Robots in Real Environments Workshop, ICCV 09, 2009 Poster presentation. pdf
[W1] E. Ugur, E. Oztop, E. Sahin, Learning Object Affordances for Planing, Workshop on Approaches to Sensorimotor Learning on Humanoid Robots, International Conference on Robotics and Automation (ICRA), pp. 38-39, 2009 Extended abstract. pdf

2008

[C6] M. R. Dogar, E. Ugur, E. Sahin, M. Cakmak, Using learned affordances for robotic behavior development., IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 3802-3807, 2008. pdf
[CH1] E. Rome, L. Paletta, E. Sahin, G. Dorffner, J. Hertzberg, G. Fritz, J. Irran, F. Kintzler, C. Lorken, S. May, E. Ugur, R. Breithaupt, The MACS project: An approach to affordance-based robot control, Towards Affordance-Based Robot Control, pp. 173-210, 2008. pdf

2007

[J2] E. Sahin, M. Cakmak, M.R. Dogar, E. Ugur, G. Ucoluk, To afford or not to afford: A new formalization of affordances towards affordance-based robot control, Adaptive Behavior, 15(4), pp. 447-472, 2007. pdf
[C5] M. Cakmak, M. R. Dogar, E. Ugur, E. Sahin, Affordances as a framework for robot control, 7th International Conference on Epigenetic Robotics (EpiRob), 2007. pdf
[C4] E. Ugur, A. E. Turgut, E. Sahin, Dispersion of a swarm of robots based on realistic wireless intensity signals, 22nd Intl. Symposium on Computer and Information Sciences (ISCIS), pp. 1-6, 2007. pdf
[C3] E. Ugur, M. R. Dogar, M. Cakmak, E. Sahin, Curiosity-driven Learning of Traversability Affordance on a Mobile Robot, IEEE Intl. Conf. on Development and Learning (ICDL), pp. 13-18, 2007. pdf
[C2] M. Dogar, M. Cakmak, E. Ugur, E. Sahin, From primitive behaviors to goal-directed behavior using affordances, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , pp. 729-734, 2007. pdf
[C1] E. Ugur, M.R. Dogar, M. Cakmak, E. Sahin, The learning and use of traversability affordance using range images on a mobile robot, IEEE Intl. Conf. on Robotics and Automation (ICRA), pp. 1721-1726, 2007. pdf

2006

[J1] E. Sahin, S. Girgin, E. Ugur, Area measurement of large closed regions with a mobile robot, Auton. Robots, 21(3), pp. 255-266, 2006. pdf