Institute of Automatic Control Engineering (LSR): Prof.

Detail Page

Contact Information

E-mail:

Phone: +49-89-289-25780

Room: CCRL2 5009

Location: Karlstr. 45, 80333 München

Other Affiliation

Carl-von-Linde Fellow
Institute for Advanced Study (IAS)
Munich, Germany

Short Biography

2009- Assistant Professor, Department of Electrical Engineering and Information Technology, Technical University of Munich, Germany

2007-2009 Project Assistant Professor, Department of Mechano-Informatics, The University of Tokyo, Japan

2007 Postdoctoral Researcher, Department of Mechano-Informatics, The University of Tokyo, Japan

2007 PhD in Information Science and Technology, Department of Mechano-Informatics, The University of Tokyo, Japan
"Statistical Mimesis from Partial Observation and its Application to Humanoid Robots"

2003 MSc in Mechanical Engineering, Kyung Hee University, Korea
"Range Sensor Based Localization of the Mobile Service Robot in Office Environments"

2001-2004 Research Scientist, KIST (Korea Institute of Science and Technology), Korea

2001 BSc in Mechanical Engineering, Kyung Hee University, Korea

Research Interests

Human Robot Interaction

- Symbolic Communication for physical Human Robot Interaction
- Human-Robot Collaboration

Machine Learning for (Humanoid) Robots

- Imitation learning
- Mimesis from Partial Observations
- Manipulation Skill Transfer from Humans to Robots
- Association and Reshaping of Motion Primitives
- Step-by-step Learning Approach

Computer Vision

- 3D Motion Recovery from Monocular Images
- Daily Life Human Motion Capturing

Working Fields

Participated Projects

SAPHARI – Safe and Autonomous Physical Human-Aware Robot Interaction, Large-scale integrating project (IP), European Commission, 2011.11 ~ 2015.10
Cluster of Excellence, Cognition for Technical Systems (CoTeSys), (2009 - Present)
Project "IRT Foundation to Support Man and Aging Society" (2007-2009)
Project "Development of a Silver Mate Robot Platform: 21C Frontier Intelligent Robot Technology Development Project" (2003. 9 ~ 2004. 3), Funded by Ministry of Science and Technology of Korea.
Project "Development of Science Museum Guide Robots" (2003. 10 ~ 2004. 3), Funded by Ministry of Science and Technology of Korea.
Project "Tangible Space Initiative (TSI) Techonoly Development" (2002 ~ 2004. 3), Funded by Korea Institute of Science and Technology.
Project "Critical Techonology-21, Service Robot Techonoly Development" (2001. 2 ~ 2003. 8), Funded by Ministry of Science and Technology of Korea.

Teaching

SS 2010:	Machine Learning in Robotics (new)
WS 2010/11:	Dynamic Human Robot Interaction (new) Hauptseminar "Kognitive Robotik und Regelung" (new)
SS 2011:	Machine Learning in Robotics Hauptseminar "Kognitive Robotik und Regelung"
WS 2011/12:	Dynamic Human Robot Interaction Hauptseminar "Kognitive Robotik und Regelung"
SS 2012:	Machine Learning in Robotics Hauptseminar "Kognitive Robotik und Regelung"

Currently Available Thesis Topics

If you are interested in related topic in our research interest area (learning, human robot interaction, bipedal walking, motor control, perception), please contact me (dhlee@tum.de) with your cv and academic transcript.

Mater Thesis: Learning and executing motion primitives by combining imitation and reinforcement learning

Publications

	Journal Articles

1.	S. Koo, Dongheui Lee and D. Kwon , Incremental object modeling and robust tracking of multiple objects from RGB-D point set data , Journal of Visual Communication and Image Representation, Special Issue on Visual Understanding and Applications with RGB-D Cameras , (2013) .


2.	Kai Hu and Dongheui Lee , Prediction-based Synchronized Human Walking Motion Imitation by a Humanoid Robot , Automatisierungstechnik, , 60 (2012) , no. 11 , 705-714 .


3.	Dana Kulic, Christian Ott, Dongheui Lee, Junichi Ishikawa and Yoshihiko Nakamura , Incremental Learning of Full Body Motion Primitives and their Sequencing through Human Motion Observation , The International Journal of Robotics Research , 31 (2012) , no. 3 , 330-345 .


4.	Dongheui Lee and Christian Ott , Incremental Kinesthetic Teaching of Motion Primitives Using the Motion Refinement Tube , Autonomous Robots , 31 (2011) , no. 2 , 115-131 .


5.	Dongheui Lee and Yoshihiko Nakamura , Mimesis Model from Partial Observations for a Humanoid Robot , The International Journal of Robotics Research , 29 (2010) , no. 1 , 60-80 .


6.	Dongheui Lee, Christian Ott, Yoshihiko Nakamura , Mimetic Communication Model with Compliant Physical Contact in Human-Humanoid Interaction , The International Journal of Robotics Research , 29 (2010) , no. 13 , 1684–1704 .


7.	Dongheui Lee and Woojin Chung , Discrete Status based Localization for Indoor Service Robots , IEEE Transactions on Industrial Electronics , 53 (2006) , no. 5 , 1737-1746 .


8.	Tae-Seok Jin, Dongheui Lee, and Jang-Myung Lee , Position Improvement of a Human-following Mobile Robot Using Image Information of Walking Human , Journal of Control, Automation, and Systems Engineering (ICASE) Special Issue - Machine vision , (2005) , (in Korean) .


9.	Woojin Chung, Dongheui Lee, and Chang-Hyuk Choi , Laser Distance Sensor Application to Control of Mobile Robot , Journal of Control, Automation, and Systems Engineering (ICASE Magazine) , 8 (2002) , no. 5 , 17-22 , (in Korean) .

	Peer Reviewed Conference Papers

10.	S. Koo, Dongheui Lee, D. Kwon , GMM-based 3D Object Representation and Robust Tracking in Unconstructed Dynamic Environments , IEEE International Conference on Robotics and Automation (ICRA) , 2013 , p. 1106-1113 .


11.	W. Wang, V. Koropouli, Dongheui Lee, K. Kühnlenz , Articulated Object Modeling Based on Visual and Haptic Observations , 2013 International Conference on Computer Vision Theory and Applications , 2013 , accepted.


12.	J.R. Medina Hernández, Dongheui Lee, S. Hirche , Risk-Sensitive Optimal Feedback Control for Haptic Assistance , IEEE International Conference on Robotics and Automation (ICRA) , 2012 .


13.	M. Lawitzky, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Feedback Motion Planning and Learning from Demonstration in Physical Robotic Assistance: Differences and Synergies , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .


14.	J.R. Medina Hernández, T. Lorenz, Dongheui Lee, S. Hirche , Disagreement-Aware Physical Assistance Through Risk-Sensitive Optimal Feedback Control , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .


15.	J.R. Medina Hernández, M. Shelley, Dongheui Lee, W. Takano, S. Hirche , Towards Interactive Physical Robotic Assistance: Parameterizing Motion Primitives Through Natural Language , 21st IEEE International Symposium on Robot and Human Interactive Communication (RoMan) , 2012 .


16.	T. Nierhoff, L. Lou, V. Koropouli, M. Eggers, T. Fritzsch, O. Kourakos, K. Kühnlenz, Dongheui Lee, B. Radig, M. Buss, S. Hirche , Tire Mounting on a Car Using the Real-Time Control Architecture ARCADE , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .


17.	K. Hu, Dongheui Lee , Bipedal Locomotion Primitive Learning, Control and Prediction from Human Data , 10th International Symposium on Robot Control (SYROCO) , 2012 .



18.	V. Koropouli, S. Hirche, Dongheui Lee , Learning and generalizing force control policies for sculpting , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .


19.	Licong Zhang, Juergen Sturm, Daniel Cremers, Dongheui Lee , Real-time Human Motion Tracking using Multiple Depth Cameras , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 2389-2395 .


20.	Z. Liu, Dongheui Lee, W. Sepp , Particle Filter Based Monocular Human Tracking with a 3D Cardbox Model and a Novel Deterministic Resampling Strategy , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 3626-3631 .


21.	J.R. Medina Hernández, M. Lawitzky, A. Mörtl, Dongheui Lee, S. Hirche , An Experience-Driven Robotic Assistant Acquiring Human Knowledge to Improve Haptic Cooperation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 .


22.	V. Koropouli, Dongheui Lee, and S. Hirche , Learning interaction control policies by demonstration , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 344-349 .


23.	A. M. Schmidts, Dongheui Lee, and A. Peer , Imitation Learning of Human Grasping Skills from Motion and Force Data , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 1002- 1007 .


24.	Dongheui Lee, Christian Ott, Yoshihiko Nakamura and Gerd Hirzinger , Physical Human Robot Interation in Imitation Learning , International Conference on Robotics and Automation (ICRA) , 2011 , (video submission) .


25.	Christian Ott, Ch. Baumgartner, J. Mayr, M. Fuchs, R. Burger, Dongheui Lee, O. Eiberger, Alin Albu-Schaffer, M. Grebenstein, and G. Hirzinger , Development of a Biped Robot with Torque Controlled Joints , IEEE International Conference on Humanoid Robots , 2010 , p. 167-173 .


26.	Dongheui Lee and Christian Ott , Incremental Motion Primitive Learning by Physical Coaching Using Impedance Control , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2010 , p. 4133-4140 .


27.	Dongheui Lee and Christian Ott , Iterative Motion Primitive Learning and Refinement by Complaint Motion Control , IEEE International Conference on Humanoid Robots (HUMANOIDS) workshop Humanoid Robots Learning from Human Interaction , 2010 .


28.	Hirotoshi Kunori, Dongheui Lee and Yoshihiko Nakamura , Associating and Reshaping of Whole Body Motions for Object Manipulation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2009 , p. 5240-5247 .


29.	Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Mimetic Communication with Impedance Control for Physical Human-Robot Interaction , IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 1535-1542 , Finalist for the KUKA Service Robotics Best Paper Award .


30.	Dana Kulic, Dongheui Lee and Yoshihiko Nakamura , Whole Body Motion Primitive Segmentation from Monocular Video , IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 3166-3172 .


31.	Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Mimetic Communication for Physical Human-Robot Interaction - Part II: Interaction Learning , the 14th Robotics Symposia , 2009 , p. 386-392 , (in Japanese) .


32.	Christian Ott, Dongheui Lee and Yoshihiko Nakamura , Mimetic Communication for Physical Human-Robot Interaction - Part I: Control , the 14th Robotics Symposia , 2009 , p. 132-139 , (in Japanese) .


33.	Hirotoshi Kunori, Dongheui Lee and Yoshihiko Nakamura , Association of Humanoid Whole Body Motion with Knowledge of Tools , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2008 , p. 2A1-E22 , (in Japanese) .


34.	Dongheui Lee, Dana Kulic and Yoshihiko Nakamura , Whole Motion Recovery from Partial Observation Data using Factorial Hidden Markov Models , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2008 , p. 1P1-G20 , (in Japanese) .


35.	Dana Kulic, Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Control System Study at IRT Research Initiative of University of Tokyo - Incremental Learning of Whole Body Motion Primitives of Humans , the 26th Annual Conference of the Robotics Society of Japan (RSJ) , 2008 , p. 3F3-02 , (in Japanese) .


36.	Dongheui Lee, Dana Kulic and Yoshihiko Nakamura , Missing Motion Data Recovery using Factorial Hidden Markov Models , IEEE International Conference on Robotics and Automation (ICRA) , 2008 , p. 1722-1728 .


37.	Dongheui Lee, Hirotoshi Kunori and Yoshihiko Nakamura , Association of Whole Body Motion from Tool Knowledge for Humanoid Robots , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2008 , p. 2867-2874 .


38.	Dana Kulic, Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Incremental Learning of Full Body Motion Primitives for Humanoid Robots , IEEE International Conference on Humanoid Robots , 2008 , p. 326-332 .


39.	Christian Ott, Dongheui Lee and Yoshihiko Nakamura , Motion Capture based Human Motion Recognition and Imitation by Direct Marker Control , IEEE International Conference on Humanoid Robots , 2008 , p. 399-405 .


40.	Dongheui Lee and Yoshihiko Nakamura , Human Motion Understanding from 2D Partial Observation of Vector Field based on Particle Filter , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2007 , p. 1A2-M07 , (in Japanese) .


41.	Dongheui Lee and Yoshihiko Nakamura , Stochastic Theory for Motion Capturing from Onboard Monocular Vision of Humanoid Robots , the 12th Robotics Symposia , 2007 , p. 424-429 .


42.	Dongheui Lee and Yoshihiko Nakamura , Mimesis Scheme using a Monocular Vision System on a Humanoid , 2007 IEEE International Conference on Robotics and Automation (ICRA'07) , 2007 , p. 2162-2168 .


43.	Dongheui Lee and Yoshihiko Nakamura , Motion Capturing from Monocular Vision by Statistical Inference Based on Motion Database: Vector Field Approach , 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07) , 2007 , p. 617-623 .


44.	Dongheui Lee and Yoshihiko Nakamura , Probabilistic Mimesis Model: Recognition and Generation from Partial Observations , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2006 , p. 1P1-E11 , (in Japanese) .


45.	Dongheui Lee and Yoshihiko Nakamura , Relaxed Viterbi Training: Fast and Reliable Symbol Acquisition of Mimesis Model , the 24th Annual Conference of the Robotics Society of Japan (RSJ) , 2006 , p. 2D22 .


46.	Dongheui Lee and Yoshihiko Nakamura , Motion Recognition with a Monocular Vision System Based on Mimesis Scheme , the 24th Annual Conference of the Robotics Society of Japan (RSJ) , 2006 , p. 1M23 , (in Japanese) .


47.	Dongheui Lee and Yoshihiko Nakamura , Stochastic Model of Imitating a New Observed Motion Based on the Acquired Motion Primitives , 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06) , 2006 , p. 4994-5000 .


48.	Dongheui Lee and Yoshihiko Nakamura , Probabilistic Model of Whole-body Motion Imitation from Partial Observations , The 12th International Conference on Advanced Robotics (ICAR'05) , 2005 , p. 337-343 .


49.	Dongheui Lee and Woojin Chung , Dependable Localization Strategy in Dynamic Real Environments , 2005 IEEE/RSJ International Conference on Intelligent Robots And Systems (IROS'05) , 2005 , p. 860-865 .


50.	Dongheui Lee and Yoshihiko Nakamura , Mimesis from Partial Observations , 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05) , 2005 , p. 1911-1916 .


51.	Dongheui Lee, Woojin Chung, and Munsang Kim , Integrated Localizaton of the Service Robot PSR , 2004 IEEE International Conference on Robotics & Automation (ICRA'04) , 2004 , p. 4017-4022 .


52.	Dongheui Lee, Woojin Chung, and Munsang Kim , A Reliable Position Estimation method of the Service Robot by Map Matching , 2003 IEEE International Conference on Robotics & Automation (ICRA'03) , 2003 , p. 2830-2835 .


53.	Dongheui Lee, Woojin Chung, and Munsang Kim , Autonomous Map Building and Smart Localization of the Service Robot PSR , 2003 IEEE/RSJ International Conference on Intelligent Robots And Systems (IROS'03) , 2003 , p. 454-459, .


54.	Dongheui Lee, Woojin Chung, and Munsang Kim , Experimental Research of the Map Building and Localization at Human Co-existing Real Environments , International Conference on Control, Automation and Systems (ICCAS) , 2003 , p. 1184-1189 .


55.	Dongheui Lee, Woojin Chung, and Munsang Kim , Probabilistic Localization of the Service Robot by Map Matching Algorithm , International Conference on Control, Automation and Systems (ICCAS) , 2002 , p. 1667-1627 .


56.	Woojin Chung, Dongheui Lee, Changjoo Lee, Gunhee Kim, Hyungjin Lee, Kihwan Kim, Munsang Kim, and Chongwon Lee , Development of The Public Service Robot PSR-1 , Proc. of 2001 Service Robot Workshop , 2001 , p. 14-19 .

	Master-/Diploma Thesis

57.	Dongheui Lee , Range Sensor Based Localization of the Mobile Service Robot in Office Environments , 2003 , MS dissertation, Kyung Hee University .

	PhD thesis

58.	Dongheui Lee , Statistical Mimesis from Partial Observation and its Application to Humanoid Robots , 2007 , PhD dissertation, The University of Tokyo .

	Poster

59.	M. Lawitzky, A. Mörtl, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Enhancing Physical Human-Robot Cooperation Through Behavior Anticipation and Interactive Planning , Proc. 5th International Conference on Cognitive Systems (CogSys) , 2012 .


60.	A. Mörtl, M. Lawitzky, J.R. Medina Hernandez, Dongheui Lee, S. Hirche , Design Concepts for Physical Human-Robot Cooperation , IROS Workshop on Learning and Interaction in Haptic Robots , 2012 .