Books / Book Chapters
- Rocco Felici, Matteo Saveriano, and Loris Roveda, Antonio Paolillo, Imitation Learning-based Visual Servoing for Tracking Moving Objects, Human-Friendly Robotics 2023, Eds. tbd, Springer International Publishing, 2024.
- Matteo Saveriano, Erwan Renaudo, Antonio Rodríguez-Sánchez, and Justus Piater (eds). Human-Friendly Robotics 2020: 13th International Workshop. Springer Proceedings in Advanced Robotics. 2021. (PDF)
- Matteo Saveriano and Dongheui Lee, Incremental Motion Reshaping of Autonomous Dynamical Systems. In: Ferraguti F., Villani V., Sabattini L., Bonfè M. (eds) Human-Friendly Robotics (HFR), Springer Proceedings in Advanced Robotics, vol 12, p. 43-57, 2020. (PDF)
- Fares J. Abu-Dakka, Matteo Saveriano, Meghan E. Huber, and Thiago Boaventura Cunha, Editorial: Variable Impedance Control And Learning In Complex Interaction Scenarios: Challenges And Opportunities, IEEE Robotics and Automation Letters, 2022.
- Jacopo Aleotti, Matteo Saveriano, and Riccardo Monica, Editorial: Learning, Perception, and Collaboration for Robots in Industrial Environments, Frontiers in Robotics and AI, 9, 2022.
- Cristan Axenie and Matteo Saveriano, Antifragile Control Systems: The case of mobile robot trajectory tracking under uncertainty and volatility, IEEE Access, 2023.
- Matteo Saveriano, Fares J. Abu-Dakka, Alias Kramberger, and Luka Peternel, Dynamic movement primitives in robotics: A tutorial survey, The International Journal of Robotics Research, 2023.
- Youssef Michel, Matteo Saveriano, and D. Lee, A Passivity-based Approach for Variable Stiffness Control with Dynamical Systems, IEEE Transactions on Automation Science and Engineering, 2023.
- Naseem Alhousani, Matteo Saveriano, Ibrahim Sevinc, Talha Abdulkuddus, Hatice Kose, Fares J. Abu-Dakka, Geometric Reinforcement Learning For Robotic Manipulation, IEEE Access, 2023.
- Matteo Saveriano, Fares J. Abu-Dakka and Ville Kyrki, Learning stable robotic skills on Riemannian manifolds, Robotics and Autonomous Systems, 2023. (PDF)
- Asia La Rocca, Matteo Saveriano and Andrea Del Prete, VBOC: Learning the Viability Boundary of a Robot Manipulator using Optimal Control, IEEE Robotics and Automation Letters, 2023. (PDF)
- Sayantan Auddy, Jakob Hollenstein, Matteo Saveriano, Antonio Rodríguez-Sánchez and Justus Piater. Continual Learning from Demonstration of Robotics Skills. Robotics and Autonomous Systems, 2023. (PDF)
- Hector Villeda, Justus Piater, and Matteo Saveriano. Learning and extrapolation of robotic skills using task-parameterized equation learner networks. Robotics and Autonomous Systems, 2022. (PDF)
- Weitao Wang, Matteo Saveriano, and Fares J. Abu-Dakka. Learning Deep Robotic Skills on Riemannian manifolds. IEEE Access, 2022. (PDF)
- Jakob Hollenstein, Sayantan Auddy, Matteo Saveriano, Erwan Renaudo, Justus Piater. Action Noise in Off-Policy Deep Reinforcement Learning: Impact on Exploration and Performance. Transactions on Machine Learning Research, 2022. (PDF)
- Cristian Axenie, Daria Kurz, and Matteo Saveriano, Antifragile control systems: The case of an anti-symmetric network model of the tumor–immune–drug interactions, Symmetry, vol. 14, No. 10, pp. 2034, 2022. (PDF)
- Gennaro Notomista and Matteo Saveriano, Safety of Dynamical Systems with Multiple Non-Convex Unsafe Sets Using Control Barrier Functions, IEEE Control Systems Letters (L-CSS), vol. 6, pp 1136-1141, 2022. (PDF)
- Fares J. Abu-Dakka and Matteo Saveriano, Variable impedance control and learning - A review, Frontiers in Robotics and AI, 7:177, 2020. (PDF)
- Leif Johannsen, Karna Potwar, Matteo Saveriano, Satoshi Endo, and Dongheui Lee, Robotic light touch assists human balance control during maximum forward reaching, Human Factors, 2020. (PDF).
- Matteo Saveriano and Justus Piater, Combining decision making and dynamical systems for monitoring and executing manipulation tasks, e \& i Elektrotechnik und Informationstechnik, vol. 137, No. 6, 309–315, 2020. (PDF)
- Alejandro Agostini, Matteo Saveriano, Dongheui Lee, Justus Piater, Manipulation Planning using Object-centered Predicates and Hierarchical Decomposition of Contextual Actions, Robotics and Automation Letters (RA-L), vol. 5, No. 4, pp 5629-5636, 2020. (PDF)
- David Kaulmann, Matteo Saveriano, Dongheui Lee, Joachim Hermsdörfer, Leif Johannsen, Stabilization of body balance with Light Touch following a mechanical perturbation: Adaption of sway and disruption of right posterior parietal cortex by cTBS, PLoS ONE, vol. 15, No. 7, pp e0233988, 2020. (PDF)
- Thomas Eiband, Matteo Saveriano, and Dongheui Lee, Intuitive Programming of Conditional Tasks by Demonstration of Multiple Solutions, Robotics and Automation Letters (RA-L), vol. 4, No. 4, pp 4483-4490, 2019. (PDF)
- Zied Tayeb, Nicolai Waniek, Juri Fedjaev, Nejla Ghaboosi, Leonard Rychly, Christian Widderich, Christoph Richter, Jonas Braun, Matteo Saveriano, Gordon Cheng, and Jörg Conradt, Gumpy: A Python Toolbox Suitable for Hybrid Brain-Computer Interfaces, Journal of Neural Engineering, vol. 15, No. 6, pp 065003, 2018. (PDF) (SOURCE CODE)
- Pietro Falco, Matteo Saveriano, Dharmil Shah, and Dongheui Lee, Representing Human Motion with FADE and U-FADE: an Efficient Frequency-Domain Approach, Autonomous Robots, vol. 43, No. 1, pp 179-196, 2019. (PDF) (SOURCE CODE)
- Riccardo Caccavale*, Matteo Saveriano*, Alberto Finzi, and Dongheui Lee, Kinesthetic Teaching and Attentional Supervision of Structured Tasks in Human-Robot Interaction, Autonomous Robots, vol. 43, No. 6, pp 1291-1307, 2019. (*Joint first authorship). (PDF) (SOURCE CODE)
- Pietro Falco, Abdallah Attawia, Matteo Saveriano, and Dongheui Lee, On Policy Learning Robust to Irreversible Events: an Application to Robotic In-Hand Manipulation, Robotics and Automation Letters (RA-L), vol. 3, No. 3, pp 1482-1489, 2018 (invited for presentation at ICRA 2018). (PDF)
- Dongheui Lee, Raffaele Soloperto, and Matteo Saveriano, Bidirectional Invariant Representation of Rigid Body Motions and its Application to Gesture Recognition and Reproduction, Autonomous Robots, vol. 42, No. 1, p. 125-145, 2018 (accepted for publication in June 2017). (PDF) (SOURCE CODE)
- Matteo Saveriano, Fabian Hirt, and Dongheui Lee, Human-aware motion reshaping using dynamical systems, Pattern Recognition Letters, vol. 99, p. 96-104, 2017. (PDF)
- Pietro Falco, Matteo Saveriano, Eka Gibran Hasany, Nicholas H. Kirk, and Dongheui Lee, A Human Action Descriptor based on Motion Coordination, Robotics and Automation Letters (RA-L), vol. 2, No. 2, p. 811-818, 2017 (invited for presentation at ICRA 2017). (PDF)
- Youssef Michel, Matteo Saveriano, Fares J. Abu-Dakka, and Dongheui Lee, Orientation Control with Variable Stiffness Dynamical Systems, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023 (accepted).
- Antonio Paolillo, Paolo Robuffo Giordano and Matteo Saveriano, Dynamical System-based Imitation Learning for Visual Servoing using the Large Projection Formulation, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2023. (PDF)
- Antonio Rodriguez-Sanchez, Simon Haller, David Peer, Chris Engelhardt, Jakob Mittelberger, and Matteo Saveriano, Affordance detection with Dynamic-Tree Capsule Networks, in Proceedings of the IEEE International Conference on Humanoid Robots (Humanoids), 2022. (PDF)
- Antonio Paolillo and Matteo Saveriano, Learning Stable Dynamical Systems for Visual Servoing, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2022. (PDF)
- Fares J. Abu-Dakka, Matteo Saveriano, and Luka Peternel, Periodic DMP formulation for Quaternion Trajectories, in Proceedings of the IEEE International Conference on Advanced Robotics (ICAR), p. 658-663, 2021. (PDF)
- Pilar de la Cruz, Justus Piater, and Matteo Saveriano, Reconfigurable Behavior Trees: Towards an Executive Framework Meeting High-Level Decision Making and Control Layer Features, in Proceedings of the IEEE International Conference on Systems, Man, and Cybernetics (SMC), p. 1915-1922, 2020. (PDF)
- Matteo Saveriano, An Energy-based Approach to Ensure the Stability of Learned Dynamical Systems, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), p. 7041-7047, 2020. (PDF) (SOURCE CODE)
- Matteo Saveriano and Dongheui Lee, Learning Barrier Functions for Constrained Motion Planning with Dynamical Systems, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), p. 112-119, 2019 (PDF).
- Thomas Eiband, Matteo Saveriano, and Dongheui Lee, Learning Haptic Exploration Schemes for Adaptive Task Execution, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), p. 7048-7054, 2019 (PDF).
- Matteo Saveriano, Felix Franzel, and Dongheui Lee, Merging Position and Orientation Motion Primitives, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), p. 7041-7047, 2019.
- Matteo Saveriano, Michael Seegerer, Riccardo Caccavale, Alberto Finzi, and Dongheui Lee, Symbolic Task Compression in Structured Task Learning, Proceedings of the IEEE International Conference on Robotic Computing (IRC), p. 171-176, 2019.
- Matteo Saveriano and Dongheui Lee, Incremental Skill Learning of Stable Dynamical Systems, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), p. 6574-6581, 2018.
- Matteo Saveriano, Yuchao Yin, Pietro Falco, and Dongheui Lee, Data-Efficient Control Policy Search using Residual Dynamics Learning, Proceedings of the International Conference on Intelligent Robots and Systems (IROS), p. 4709-4715, 2017. (PDF)
- Riccardo Caccavale*, Matteo Saveriano*, Giuseppe Andrea Fontanelli, Fanny Ficuciello, Dongheui Lee, and Alberto Finzi, Imitation Learning and Attentional Supervision of Dual-Arm Structured Tasks, Proceedings of the International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EPIROB), p. 66-71, 2017 (*Joint first authorship). (PDF)
- Caroline Blocher, Matteo Saveriano, and Dongheui Lee, Learning Stable Dynamical Systems using Contraction Theory, Proceedings of the International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), p. 124-129, 2017. Outstanding Paper Award. (PDF)
- Roman Roor, Jonas Hess, Matteo Saveriano, Michael Karg, and Alexandra Kirsch, Sensor Fusion for Semantic Place Labeling, International Conference on Vehicle Technology and Intelligent Transport Systems (VEHITS), p. 121-131, 2017. Best Student Paper Award Candidate. (PDF)
- Dharmil Shah, Pietro Falco, Matteo Saveriano, and Dongheui Lee, Encoding Human Actions with a Frequency Domain Approach, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, p. 5304-5311. (PDF)
- Nicholas H. Kirk, Karinne Ramirez-Amaro, Emmanuel Dean-Leon, Matteo Saveriano, and Gordon Cheng, Online Prediction of Activities with Structure: Exploiting Contextual Associations and Sequences, in Proceedings of the IEEE International Conference on Humanoid Robots (HUMANOIDS), 2015, p. 744-749. (PDF)
- Matteo Saveriano, Sangik An, and Dongheui Lee, Incremental Kinesthetic Teaching of End-Effector and Null-Space Motion Primitives, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015, p. 3570-3575. (PDF)
- Raffaele Soloperto, Matteo Saveriano, and Dongheui Lee, A Bidirectional Invariant Representation of Motion for Gesture Recognition and Reproduction, in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015, p. 6146-6152. (PDF)
- Matteo Saveriano and Dongheui Lee, Learning Motion and Impedance Behaviors from Human Demonstrations, Proceedings of the International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2014, p. 368-373. (PDF)
- Matteo Saveriano and Dongheui Lee, Distance based Dynamical System Modulation for Reactive Avoidance of Moving Obstacles, Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014, p. 5618-5623. (PDF)
- Vito Magnanimo, Matteo Saveriano, Silvia Rossi, and Dongheui Lee, A Bayesian Approach for Task Recognition and Future Human Activity Prediction, Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), 2014, p. 726-731. Kazuo Tanie Award Candidate. (PDF)
- Matteo Saveriano and Dongheui Lee, Invariant Representation for User Independent Motion Recognition, Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), 2013, p. 650-655. (PDF)
- Matteo Saveriano and Dongheui Lee, Point Cloud based Dynamical System Modulation for Reactive Avoidance of Convex and Concave Obstacles, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013, p. 5380-5387. (PDF)
- Francesco Donnarumma, Vincenzo Lippiello, and Matteo Saveriano, Fast Incremental Clustering and Representation of a 3D Point Cloud Sequence with Planar Regions, Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2012, p. 3475 - 3480. (PDF)
- Jakob Hollenstein, Erwan Renaudo, Matteo Saveriano, and Justus Piater, How does explicit exploration influence Deep Reinforcement Learning?, Joint Austrian Computer Vision and Robotics Workshop, 2020.
- Matteo Saveriano, Yuchao Yin, Pietro Falco, and Dongheui Lee, PI-REM: Policy Improvement with REsidual Model learning, 10th International Workshop on Human-Friendly Robotics (HFR), 2017. (PDF)
- Riccardo Caccavale, Alberto Finzi, Dongheui Lee, and Matteo Saveriano, Integrated Task Learning and Kinesthetic Teaching for Human-Robot Cooperation, Italian Workshop on Articial Intelligence and Robotics (AIRO), 2016. (PDF)
- Florian Winter, Matteo Saveriano, and Dongheui Lee, The Role of Coupling Terms in Variable Impedance Policies Learning, 9th International Workshop on Human-Friendly Robotics (HFR), 2016. (PDF)
- Riccardo Caccavale, Alberto Finzi, Dongheui Lee, Enrico Leone, Silvia Rossi, Matteo Saveriano, and Mariacarla Staffa, Integrating Multimodal Interaction and Kinesthetic Teaching for Flexible Human-Robot Collaboration, 8th International Workshop on Human-Friendly Robotics (HFR), 2015. (PDF)
- Jie Liu, Matteo Saveriano, and Dongheui Lee, Robot Compliant Behavior through Reinforcement Learning, 7th International Workshop on Human-Friendly Robotics (HFR), 2014. (PDF)
- Matteo Saveriano and Dongheui Lee, Invariant Representation of Motion for Gesture Recognition in Daily Life Scenarios, 6th International Workshop on Human-Friendly Robotics (HFR), 2013. (PDF)
- Matteo Saveriano and Dongheui Lee, Distance based Dynamical System Modulation for Reactive Collision Avoidance, DGR-Tage (DGR-days), 2013. (PDF)
- Karna Potwar, Leif Johannsen, Matteo Saveriano, Martin Langer, and Dongheui Lee, Light touch postural guidance through a robotic system, AsiaHaptics, 2018.
- Matteo Saveriano and Dongheui Lee, Safe Motion Generation and Online Reshaping using Dynamical Systems, Proceedings of the International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), 2014. Best Poster/Video Presentation Award. (PDF) (VIDEO)
- Sven Parusel, Hannes Widmoser, Saskia Golz, Tobias Ende, Nico Blodow, Matteo Saveriano, Alexis Maldonado, Ingo Kresse, Roman Weitschat, Dongheui Lee, Michael Beetz, Alin Albu-Schaeffer, and Sami Haddadin, Human-Robot Interaction Planning, the 28th AAAI Conference on Artificial Intelligence (AAAI), 2014. Nomination for Best Robot Video Award. (VIDEO)