Detail Page
Prof. Dongheui Lee, Ph.D.
Contact Information
E-mail: 
Phone: +49-89-289-25780
Room: CCRL2 3019
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

 

Teaching

Summer Semester 2010:  Machine Learning in Robotics

Winter Semester 2010/11:  Dynamic Human Robot Interaction

           Teaching evaluations 2010/2011

Summer Semester 2011:  Machine Learning in Robotics

Currently Available Thesis Topics

If you are interested in the related topic, please contact me (dhlee@tum.de) with your cv and academic transcript.

Diploma Thesis: Learning the motion and force generation policy of a task from constrained demonstrations

Diploma/Master Thesis: Robust Hand Pose Estimation with a RGBD Camera using Large Database

Diploma/Master Thesis: Imitation Learning of Human Grasping Skills using a five-fingered Robot Hand 

Master Thesis: Gesture Recognition using kinect and its HRI application

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

 

Publications
Journal Articles
1. 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 , (2011) , accepted.
2. Dongheui Lee and Christian Ott , Incremental Kinesthetic Teaching of Motion Primitives Using the Motion Refinement Tube , Autonomous Robots , 31 (2011) , no. 2 , 115-131 .
3. 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 .
4. 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 .
5. Dongheui Lee and Woojin Chung , Discrete Status based Localization for Indoor Service Robots , IEEE Transactions on Industrial Electronics , 53 (2006) , no. 5 , 1737-1746 .
6. 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) .
7. 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
8. Z. Liu, Dongheui Lee, W. Sepp , Particle Filter Based Monocular Human Tracking with a 3D Cardbox Model and a Novel Deterministic Resampling Strategy , Proc. of the 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011) , 2011 , p. 3626-3631 .
9. J.R. Medina Hernández, M. Lawitzky, A. Mörtl, Dongheui Lee, and S. Hirche , An Experience-Driven Robotic Assistant Acquiring Human Knowledge to Improve Haptic Cooperation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11) , 2011 , p. 2416-2422 .
10. V. Koropouli, Dongheui Lee, and S. Hirche , Learning interaction control policies by demonstration , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11) , 2011 , p. 344-349 .
11. A. 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 '11) , 2011 , p. 1002- 1007 .
12. Dongheui Lee, Christian Ott, Yoshihiko Nakamura and Gerd Hirzinger , Physical Human Robot Interation in Imitation Learning , International Conference on Robotics and Automation (ICRA'11) , 2011 , (video submission) .
13. 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 , 2010 IEEE International Conference on Humanoid Robots , 2010 , p. 167-173 .
14. Dongheui Lee and Christian Ott , Incremental Motion Primitive Learning by Physical Coaching Using Impedance Control , Proc. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'10) , 2010 , p. 4133-4140 .
15. Dongheui Lee and Christian Ott , Iterative Motion Primitive Learning and Refinement by Complaint Motion Control , IEEE International Conference on Humanoid Robots (HUMANOIDS'10) workshop Humanoid Robots Learning from Human Interaction , 2010 .
16. Hirotoshi Kunori, Dongheui Lee and Yoshihiko Nakamura , Associating and Reshaping of Whole Body Motions for Object Manipulation , Proc. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'09) , 2009 , p. 5240-5247 .
17. Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Mimetic Communication with Impedance Control for Physical Human-Robot Interaction , Proc. 2009 IEEE International Conference on Robotics and Automation (ICRA'09) , 2009 , p. 1535-1542 ,
Finalist for the KUKA Service Robotics Best Paper Award .
18. Dana Kulic, Dongheui Lee and Yoshihiko Nakamura , Whole Body Motion Primitive Segmentation from Monocular Video , Proc. 2009 IEEE International Conference on Robotics and Automation (ICRA'09) , 2009 , p. 3166-3172 .
19. 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) .
20. 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) .
21. Hirotoshi Kunori, Dongheui Lee and Yoshihiko Nakamura , Association of Humanoid Whole Body Motion with Knowledge of Tools , the 2008 JSME Conference on Robotics and Mechatronics (ROBOMEC'2008) , 2008 , p. 2A1-E22 , (in Japanese) .
22. Dongheui Lee, Dana Kulic and Yoshihiko Nakamura , Whole Motion Recovery from Partial Observation Data using Factorial Hidden Markov Models , the 2008 JSME Conference on Robotics and Mechatronics (ROBOMEC'2008) , 2008 , p. 1P1-G20 , (in Japanese) .
23. 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) , 2008 , p. 3F3-02 , (in Japanese) .
24. Dongheui Lee, Dana Kulic and Yoshihiko Nakamura , Missing Motion Data Recovery using Factorial Hidden Markov Models , 2008 IEEE International Conference on Robotics and Automation (ICRA'08) , 2008 , p. 1722-1728 .
25. Dongheui Lee, Hirotoshi Kunori and Yoshihiko Nakamura , Association of Whole Body Motion from Tool Knowledge for Humanoid Robots , 2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'08) , 2008 , p. 2867-2874 .
26. Dana Kulic, Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Incremental Learning of Full Body Motion Primitives for Humanoid Robots , 2008 IEEE International Conference on Humanoid Robots , 2008 , p. 326-332 .
27. Christian Ott, Dongheui Lee and Yoshihiko Nakamura , Motion Capture based Human Motion Recognition and Imitation by Direct Marker Control , 2008 IEEE International Conference on Humanoid Robots , 2008 , p. 399-405 .
28. Dongheui Lee and Yoshihiko Nakamura , Human Motion Understanding from 2D Partial Observation of Vector Field based on Particle Filter , the 2007 JSME Conference on Robotics and Mechatronics (ROBOMEC'2007) , 2007 , p. 1A2-M07 , (in Japanese) .
29. 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 .
30. 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 .
31. 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 .
32. Dongheui Lee and Yoshihiko Nakamura , Probabilistic Mimesis Model: Recognition and Generation from Partial Observations , the 2006 JSME Conference on Robotics and Mechatronics (ROBOMEC'2006) , 2006 , p. 1P1-E11 , (in Japanese) .
33. 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) , 2006 , p. 2D22 .
34. 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) , 2006 , p. 1M23 , (in Japanese) .
35. 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 .
36. 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 .
37. 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 .
38. 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 .
39. 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 .
40. 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 .
41. 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, .
42. 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) , 2003 , p. 1184-1189 .
43. 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) , 2002 , p. 1667-1627 .
44. 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
45. Dongheui Lee , Range Sensor Based Localization of the Mobile Service Robot in Office Environments , 2003 , MS dissertation, Kyung Hee University .
PhD thesis
46. Dongheui Lee , Statistical Mimesis from Partial Observation and its Application to Humanoid Robots , 2007 , PhD dissertation, The University of Tokyo .