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Verena V. Hafner

Verena Vanessa Hafner

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affiliation: Humboldt University of Berlin, Department of Computer Science, Germany
affiliation: SONY Computer Science Labs, Paris, France

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Books and Theses

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2004
[b1]
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Verena V. Hafner:
Adaptive navigation strategies in biorobotics: visual homing and cognitive mapping in animals and machines. University of Zurich, 2004, ISBN 3-8322-2857-8, pp. 1-258

Journal Articles

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2023
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Johann Chevalère, Rebecca Lazarides, Haeseon Yun, Anja Henke, Claudia Lazarides, Niels Pinkwart, Verena V. Hafner:
Do instructional strategies considering activity emotions reduce students' boredom in a computerized open-ended learning environment? Comput. Educ. 196: 104741 (2023)
[j19]
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Johann Chevalère, Murat Kirtay, Verena V. Hafner, Rebecca Lazarides:
Who to Observe and Imitate in Humans and Robots: The Importance of Motivational Factors. Int. J. Soc. Robotics 15(8): 1265-1275 (2023)
[j18]
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Murat Kirtay, Verena V. Hafner, Minoru Asada, Erhan Öztop:
Trust in Robot-Robot Scaffolding. IEEE Trans. Cogn. Dev. Syst. 15(4): 1841-1852 (2023)
2021
[j17]
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Guido Schillaci, Antonio Pico Villalpando, Verena V. Hafner, Peter Hanappe, David Colliaux, Timothée Wintz:
Intrinsic motivation and episodic memories for robot exploration of high-dimensional sensory spaces. Adapt. Behav. 29(6) (2021)
[j16]
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Tim Landgraf, Gregor H. W. Gebhardt, David Bierbach, Pawel Romanczuk, Lea Musiolek, Verena V. Hafner, Jens Krause:
Animal-in-the-Loop: Using Interactive Robotic Conspecifics to Study Social Behavior in Animal Groups. Annu. Rev. Control. Robotics Auton. Syst. 4: 487-507 (2021)
[j15]
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Manfred Eppe, Stefan Wermter, Verena V. Hafner, Yukie Nagai:
Developmental Robotics and its Role Towards Artificial General Intelligence. Künstliche Intell. 35(1): 5-7 (2021)
[j14]
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Phuong D. H. Nguyen, Yasmin Kim Georgie, Ezgi Kayhan, Manfred Eppe, Verena Vanessa Hafner, Stefan Wermter:
Sensorimotor Representation Learning for an "Active Self" in Robots: A Model Survey. Künstliche Intell. 35(1): 9-35 (2021)
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Alejandra Ciria, Guido Schillaci, Giovanni Pezzulo, Verena V. Hafner, Bruno Lara:
Predictive Processing in Cognitive Robotics: A Review. Neural Comput. 33(5): 1402-1432 (2021)
2020
[j12]
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Verena V. Hafner, Pontus Loviken, Antonio Pico Villalpando, Guido Schillaci:
Prerequisites for an Artificial Self. Frontiers Neurorobotics 14: 5 (2020)
[j11]
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Damien Drix, Verena V. Hafner, Michael Schmuker:
Sparse coding with a somato-dendritic rule. Neural Networks 131: 37-49 (2020)
[j10]
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Juan M. Acevedo-Valle, Verena V. Hafner, Cecilio Angulo:
Social Reinforcement in Artificial Prelinguistic Development: A Study Using Intrinsically Motivated Exploration Architectures. IEEE Trans. Cogn. Dev. Syst. 12(2): 198-208 (2020)
2017
[j9]
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Christian Blum, Alan F. T. Winfield, Verena V. Hafner:
Simulation-Based Internal Models for Safer Robots. Frontiers Robotics AI 4: 74 (2017)
2016
[j8]
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Guido Schillaci, Verena V. Hafner, Bruno Lara:
Exploration Behaviors, Body Representations, and Simulation Processes for the Development of Cognition in Artificial Agents. Frontiers Robotics AI 3: 39 (2016)
[j7]
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Guido Schillaci, Verena V. Hafner, Bruno Lara:
Editorial: Re-Enacting Sensorimotor Experience for Cognition. Frontiers Robotics AI 3: 77 (2016)
2013
[j6]
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Christian Blum, Verena Vanessa Hafner:
Robust Exploration Strategies for a Robot exploring a Wireless Network. Electron. Commun. Eur. Assoc. Softw. Sci. Technol. 56 (2013)
[j5]
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Guido Schillaci, Sasa Bodiroza, Verena Vanessa Hafner:
Evaluating the Effect of Saliency Detection and Attention Manipulation in Human-Robot Interaction. Int. J. Soc. Robotics 5(1): 139-152 (2013)
2007
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Pierre-Yves Oudeyer, Frédéric Kaplan, Verena Vanessa Hafner:
Intrinsic Motivation Systems for Autonomous Mental Development. IEEE Trans. Evol. Comput. 11(2): 265-286 (2007)
2006
[j3]
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Frédéric Kaplan, Verena Vanessa Hafner:
Information-theoretic framework for unsupervised activity classification. Adv. Robotics 20(10): 1087-1103 (2006)
2005
[j2]
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Verena V. Hafner:
Cognitive Maps in Rats and Robots. Adapt. Behav. 13(2): 87-96 (2005)
2001
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Verena Vanessa Hafner:
Adaptive Homing - Robotic Exploration Tours. Adapt. Behav. 9(3-4): 131-141 (2001)

Conference and Workshop Papers

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2024
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Lea Musiolek, David Bierbach, Nils Weimar, Myriam Hamon, Jens Krause, Verena V. Hafner:
Evolving Artificial Neural Networks for Simulating Fish Social Interactions. EvoApplications@EvoStar 2024: 146-161
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Heinrich Mellmann, Polina Arbuzova, Dimosthenis Kontogiorgos, Magdalena Yordanova, Jennifer X. Haensel, Verena V. Hafner, Joanna J. Bryson:
Effects of Transparency in Humanoid Robots - A Pilot Study. HRI (Companion) 2024: 750-754
2023
[c64]
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Haeseon Yun, Heiko Hübert, Johann Chevalère, Niels Pinkwart, Verena V. Hafner, Rebecca Lazarides:
Analyzing Learners' Emotion from an HRI Experiment Using Facial Expression Recognition Systems. HCI (31) 2023: 396-407
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Haeseon Yun, Heiko Hübert, Abdullah Sardogan, Niels Pinkwart, Verena V. Hafner, Rebecca Lazarides:
Humanoid Robot as a Debate Partner. HCI (47) 2023: 546-552
[c62]
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Antonio Pico Villalpando, Matthias Kubisch, David Colliaux, Peter Hanappe, Verena V. Hafner:
Reinforcement learning with space carving for plant scanning. ICCV (Workshops) 2023: 694-701
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Murat Kirtay, Verena V. Hafner, Minoru Asada, Erhan Öztop:
Interplay Between Neural Computational Energy and Multimodal Processing in Robot-Robot Interaction. ICDL 2023: 15-21
[c60]
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Doris Pischedda, Vanessa Kaufmann, Olga A. Wudarczyk, Rasha Abdel Rahman, Verena V. Hafner, Anna K. Kuhlen, John-Dylan Haynes:
Human or AI? The brain knows it! A brain-based Turing Test to discriminate between human and artificial agents. RO-MAN 2023: 951-958
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Volha Taliaronak, Anna L. Lange, Murat Kirtay, Erhan Öztop, Verena V. Hafner:
Advancing Humanoid Robots for Social Integration: Evaluating Trustworthiness Through a Social Cognitive Framework. RO-MAN 2023: 2112-2119
2022
[c58]
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Haeseon Yun, Heiko Hübert, Volha Taliaronak, Ralf Mayet, Murat Kirtay, Verena V. Hafner, Niels Pinkwart:
AI-Based Open-Source Gesture Retargeting to a Humanoid Teaching Robot. AIED (2) 2022: 276-279
[c57]
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Ali Ayub, Marcus Scheunemann, Christoforos I. Mavrogiannis, Jimin Rhim, Kerstin Dautenhahn, Chrystopher L. Nehaniv, Verena V. Hafner, Daniel Polani:
Robot Curiosity in Human-Robot Interaction (RCHRI). HRI 2022: 1231-1233
[c56]
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Murat Kirtay, Verena V. Hafner, Minoru Asada, Anna K. Kuhlen, Erhan Öztop:
Multimodal reinforcement learning for partner specific adaptation in robot-multi-robot interaction. Humanoids 2022: 843-850
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Murat Kirtay, Erhan Öztop, Anna K. Kuhlen, Minoru Asada, Verena V. Hafner:
Forming robot trust in heterogeneous agents during a multimodal interactive game. ICDL 2022: 307-313
[c54]
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Murat Kirtay, Erhan Öztop, Anna K. Kuhlen, Minoru Asada, Verena V. Hafner:
Trustworthiness assessment in multimodal human-robot interaction based on cognitive load. RO-MAN 2022: 469-476
2021
[c53]
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Volha Taliaronak, Heinrich Mellmann, Verena V. Hafner:
Extended Abstract: Simulation of Interactions between Beehives. CS&P 2021: 106-112
[c52]
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Eugen Puzynin, Heinrich Mellmann, Verena V. Hafner:
Extended Abstract: A Novel Mobile App for the Next Generation of Beekeepers. CS&P 2021: 113-116
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Heinrich Mellmann, Volha Taliaronak, Verena V. Hafner:
Towards an Anticipatory Mechanism for Complex Decisions in a Bio-Hybrid Beehive. CS&P (Revised Selected Papers) 2021: 145-173
[c50]
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Murat Kirtay, Johann Chevalère, Rebecca Lazarides, Verena V. Hafner:
Learning in Social Interaction: Perspectives from Psychology and Robotics. ICDL 2021: 1-8
[c49]
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Murat Kirtay, Erhan Öztop, Minoru Asada, Verena V. Hafner:
Modeling robot trust based on emergent emotion in an interactive task. ICDL 2021: 1-8
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David Bierbach, Fritz Francisco, Juliane Lukas, Tim Landgraf, Moritz Maxeiner, Pawel Romanczuk, Lea Musiolek, Verena V. Hafner, Jens Krause:
Biomimetic robots promote the 3Rs Principle in animal testing. ALIFE 2021: 36
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Asya Ilgün, Kostadin Angelov, Martin Stefanec, Sarah Schönwetter-Fuchs, Valerin Stokanic, Jutta Vollmann, Daniel Nicolas Hofstadler, Martin H. Kärcher, Heinrich Mellmann, Volha Taliaronak, Armands Kviesis, Vitalijs Komasilovs, Matthias A. Becher, Martina Szopek, David M. Dormagen, Rafael Barmak, Erol Bairaktarov, Matthieu Broisin, Ronald Thenius, Rob Mills, Stamatios C. Nicolis, Alexandre Campo, Aleksejs Zacepins, Sergey Petrov, Jean-Louis Deneubourg, Francesco Mondada, Tim Landgraf, Verena V. Hafner, Thomas Schmickl:
Bio-Hybrid Systems for Ecosystem Level Effects. ALIFE 2021: 41
[c46]
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Murat Kirtay, Erhan Öztop, Minoru Asada, Verena V. Hafner:
Trust me! I am a robot: an affective computational account of scaffolding in robot-robot interaction. RO-MAN 2021: 189-196
2020
[c45]
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Murat Kirtay, Olga A. Wudarczyk, Doris Pischedda, Anna K. Kuhlen, Rasha Abdel Rahman, John-Dylan Haynes, Verena V. Hafner:
Modeling robot co-representation: state-of-the-art, open issues, and predictive learning as a possible framework. ICDL-EPIROB 2020: 1-8
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Heinrich Mellmann, Benjamin Schlotter, Lea Musiolek, Verena V. Hafner:
Anticipation as a Mechanism for Complex Behavior in Artificial Agents. ALIFE 2020: 157-159
[c43]
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Lea Musiolek, Verena V. Hafner, Jens Krause, Tim Landgraf, David Bierbach:
Robofish as Social Partner for Live Guppies. Living Machines 2020: 270-274
2019
[c42]
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Alban Laflaquière, Verena V. Hafner:
Self-supervised Body Image Acquisition Using a Deep Neural Network for Sensorimotor Prediction. ICDL-EPIROB 2019: 117-122
[c41]
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Yasmin Kim Georgie, Guido Schillaci, Verena Vanessa Hafner:
An interdisciplinary overview of developmental indices and behavioral measures of the minimal self. ICDL-EPIROB 2019: 129-136
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Antonio Pico Villalpando, Guido Schillaci, Verena V. Hafner, Bruno Lara-Guzmán:
Ego-Noise Predictions for Echolocation in Wheeled Robots. ALIFE 2019: 567-573
2018
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Claus Lang, Guido Schillaci, Verena V. Hafner:
A Deep Convolutional Neural Network Model for Sense of Agency and Object Permanence in Robots. ICDL-EPIROB 2018: 257-262
[c38]
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Antonio Pico Villalpando, Guido Schillaci, Verena V. Hafner:
Predictive Models for Robot Ego-Noise Learning and Imitation. ICDL-EPIROB 2018: 263-268
2017
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Oswald Berthold, Verena V. Hafner:
Tapping the sensorimotor trajectory. ICDL-EPIROB 2017: 79-85
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Juan M. Acevedo-Valle, Verena V. Hafner, Cecilio Angulo:
Social reinforcement in intrinsically motivated sensorimotor exploration for embodied agents with constraint awareness. ICDL-EPIROB 2017: 255-262
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Antonio Pico Villalpando, Guido Schillaci, Verena V. Hafner, Bruno Lara:
On robots imitating movements through motor noise prediction. ICDL-EPIROB 2017: 318-323
2016
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Guido Schillaci, Claas-Norman Ritter, Verena Vanessa Hafner, Bruno Lara:
Body Representations for Robot Ego-Noise Modelling and Prediction. Towards the Development of a Sense of Agency in Artificial Agents. ALIFE 2016: 390-397
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Sarah Bechtle, Guido Schillaci, Verena V. Hafner:
On the sense of agency and of object permanence in robots. ICDL-EPIROB 2016: 166-171
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Idai Guertel, Guido Schillaci, Verena V. Hafner:
Using proprioceptive information for the development of robot body representations. ICDL-EPIROB 2016: 172-173
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Antonio Pico Villalpando, Guido Schillaci, Verena V. Hafner, Bruno Lara:
How do I sound like? forward models for robot ego-noise prediction. ICDL-EPIROB 2016: 246-251
2015
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Oswald Berthold, Verena V. Hafner:
Closed-loop acquisition of behaviour on the Sphero robot. ECAL 2015: 472-478
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Mathias Schmerling, Guido Schillaci, Verena V. Hafner:
Goal-directed learning of hand-eye coordination in a humanoid robot. ICDL-EPIROB 2015: 168-175
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Sarah Bechtle, Guido Schillaci, Verena V. Hafner:
First steps towards the development of the sense of object permanence in robots. ICDL-EPIROB 2015: 283-284
2014
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Aleksandar Jevtic, Guillaume Doisy, Sasa Bodiroza, Yael Edan, Verena V. Hafner:
Human-robot interaction through 3D vision and force control. HRI 2014: 102
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Christian Blum, Oswald Berthold, Philipp Rhan, Verena V. Hafner:
Intuitive control of small flying robots. HRI 2014: 128-129
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Ivana Kajic, Guido Schillaci, Sasa Bodiroza, Verena V. Hafner:
Learning hand-eye coordination for a humanoid robot using SOMs. HRI 2014: 192-193
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Guido Schillaci, Verena V. Hafner, Bruno Lara:
Online learning of visuo-motor coordination in a humanoid robot. A biologically inspired model. ICDL-EPIROB 2014: 130-136
[c23]
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Damien Drix, Verena V. Hafner:
Learning proprioceptive and motor features. ICDL-EPIROB 2014: 374-378
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Georg Martius, Luisa Jahn, Helmut Hauser, Verena V. Hafner:
Self-exploration of the Stumpy Robot with Predictive Information Maximization. SAB 2014: 32-42
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Oswald Berthold, Verena V. Hafner:
Unsupervised Learning of Sensory Primitives from Optical Flow Fields. SAB 2014: 188-197
2013
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Sasa Bodiroza, Guillaume Doisy, Verena Vanessa Hafner:
Position-invariant, real-time gesture recognition based on dynamic time warping. HRI 2013: 87-88
[c19]
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Guido Schillaci, Verena Vanessa Hafner, Bruno Lara, Marc Grosjean:
Is that me?: sensorimotor learning and self-other distinction in robotics. HRI 2013: 223-224
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Alex Kozlov, Jeremi Gancet, Pierre Letier, Guido Schillaci, Verena V. Hafner, Benjamin Fonooni, Yashodhan Nevatia, Thomas Hellström:
Development of a search and rescue field robotic assistant. SSRR 2013: 1-5
2012
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Guido Schillaci, Bruno Lara, Verena V. Hafner:
Internal Simulations for Behaviour Selection and Recognition. HBU 2012: 148-160
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Guido Schillaci, Verena Vanessa Hafner, Bruno Lara:
Coupled inverse-forward models for action execution leading to tool-use in a humanoid robot. HRI 2012: 231-232
[c15]
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Christian Blum, Verena V. Hafner:
An Autonomous Flying Robot for Network Robotics. ROBOTIK 2012
2011
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Verena Vanessa Hafner, Manja Lohse, Joachim Meyer, Yukie Nagai, Britta Wrede:
The role of expectations in intuitive human-robot interaction. HRI 2011: 7-8
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Guido Schillaci, Verena Vanessa Hafner:
Random movement strategies in self-exploration for a humanoid robot. HRI 2011: 245-246
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Sasa Bodiroza, Guido Schillaci, Verena Vanessa Hafner:
Robot ego-sphere: An approach for saliency detection and attention manipulation in humanoid robots for intuitive interaction. Humanoids 2011: 689-694
2010
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Mey Lean Kronemann, Verena Vanessa Hafner:
LumiBots: making emergence graspable in a swarm of robots. Conference on Designing Interactive Systems 2010: 408-411
[c10]
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Verena Vanessa Hafner, Ferry Bachmann, Oswald Berthold, Michael Schulz, Mathias Müller:
An autonomous flying robot for testing bio-inspired navigation strategies. ISR/ROBOTIK 2010: 1-7
2009
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Florian A. Bertsch, Verena V. Hafner:
Real-time dynamic visual gesture recognition in human-robot interaction. Humanoids 2009: 447-453
2008
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Verena Vanessa Hafner, Ferry Bachmann:
Human-Humanoid walking gait recognition. Humanoids 2008: 598-602
2006
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Verena V. Hafner, Frédéric Kaplan:
Interpersonal Maps: How to Map Affordances for Interaction Behaviour. Towards Affordance-Based Robot Control 2006: 1-15
[c6]
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Sebastian Möller, Roman Englert, Klaus-Peter Engelbrecht, Verena Vanessa Hafner, Anthony Jameson, Antti Oulasvirta, Alexander Raake, Norbert Reithinger:
Memo: towards automatic usability evaluation of spoken dialogue services by user error simulations. INTERSPEECH 2006
2005
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Verena Vanessa Hafner, Frédéric Kaplan:
Learning to Interpret Pointing Gestures: Experiments with Four-Legged Autonomous Robots. Biomimetic Neural Learning for Intelligent Robots 2005: 225-234
2003
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Verena Vanessa Hafner:
Agent-Environment Interaction in Visual Homing. Embodied Artificial Intelligence 2003: 180-185
[c3]
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Verena Vanessa Hafner, Miriam Fend, Max Lungarella, Rolf Pfeifer, Peter König, Konrad P. Körding:
Optimal Coding for Naturally Occurring Whisker Deflections. ICANN 2003: 805-812
2002
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Verena V. Hafner, Ralf Salomon:
Evolving neural controllers for visual navigation. IEEE Congress on Evolutionary Computation 2002: 669-674
[c1]
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Max Lungarella, Verena Vanessa Hafner, Rolf Pfeifer, Hiroshi Yokoi:
An artificial whisker sensor for robotics. IROS 2002: 2931-2936

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2008
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Verena Vanessa Hafner:
Robots as Tools for Modelling Navigation Skills - A Neural Cognitive Map Approach. Robotics and Cognitive Approaches to Spatial Mapping 2008: 315-324

Informal and Other Publications

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2023
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Haeseon Yun, Volha Taliaronak, Murat Kirtay, Johann Chevalère, Heiko Hübert, Verena V. Hafner, Niels Pinkwart, Rebecca Lazarides:
Challenges in Designing Teacher Robots with Motivation Based Gestures. CoRR abs/2302.03942 (2023)
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Anna L. Lange, Murat Kirtay, Verena V. Hafner:
From Human to Robot Interactions: A Circular Approach towards Trustworthy Social Robots. CoRR abs/2311.08009 (2023)
2021
[i11]
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Alejandra Ciria, Guido Schillaci, Giovanni Pezzulo, Verena V. Hafner, Bruno Lara:
Predictive Processing in Cognitive Robotics: a Review. CoRR abs/2101.06611 (2021)
2020
[i10]
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Guido Schillaci, Antonio Pico Villalpando, Verena Vanessa Hafner, Peter Hanappe, David Colliaux, Timothée Wintz:
Intrinsic Motivation and Episodic Memories for Robot Exploration of High-Dimensional Sensory Spaces. CoRR abs/2001.01982 (2020)
[i9]
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Murat Kirtay, Guido Schillaci, Verena V. Hafner:
A Multisensory Learning Architecture for Rotation-invariant Object Recognition. CoRR abs/2009.06292 (2020)
[i8]
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Phuong D. H. Nguyen, Yasmin Kim Georgie, Ezgi Kayhan, Manfred Eppe, Verena Vanessa Hafner, Stefan Wermter:
Sensorimotor representation learning for an "active self" in robots: A model survey. CoRR abs/2011.12860 (2020)
2019
[i7]
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  - journals/corr/abs-1906-00825
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Alban Laflaquière, Verena V. Hafner:
Self-supervised Body Image Acquisition Using a Deep Neural Network for Sensorimotor Prediction. CoRR abs/1906.00825 (2019)
2017
[i6]
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Oswald Berthold, Verena V. Hafner:
Tapping the sensorimotor trajectory. CoRR abs/1704.07622 (2017)
[i5]
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Guido Schillaci, Fabio Schillaci, Verena V. Hafner:
A Customisable Underwater Robot. CoRR abs/1707.06564 (2017)
2015
[i4]
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Christian Blum, Verena V. Hafner:
Active exploration of sensor networks from a robotics perspective. CoRR abs/1511.05488 (2015)
2014
[i3]
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Aitor Aladren, Sasa Bodiroza, Hamid Reza Chitsaz, J. J. Guerrero, Verena V. Hafner, Kris K. Hauser, Aleksandar Jevtic, Moslem Kazemi, Bruno Lara, Gonzalo López-Nicolás, Peer Neubert, Peter Protzel, Laurel D. Riek, Niko Sünderhauf, Chee Yap:
Proceedings of the 1st Workshop on Robotics Challenges and Vision (RCV2013). CoRR abs/1402.3213 (2014)
[i2]
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Christian Blum, Verena V. Hafner:
Gradient-based Taxis Algorithms for Network Robotics. CoRR abs/1409.7580 (2014)
[i1]
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Aldo Gangemi, Verena V. Hafner, Werner Kuhn, Simon Scheider, Luc Steels:
Spatial reference in the Semantic Web and in Robotics (Dagstuhl Seminar 14142). Dagstuhl Reports 4(3): 181-201 (2014)

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