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Dr. Tim Welschehold

Albert-Ludwigs-Universität Freiburg
Technische Fakultät
Autonome Intelligente Systeme
Georges-Köhler-Allee 080
D-79110 Freiburg i. Br., Germany
Office:   01-002

twelsche@informatik.uni-freiburg.de
Phone:   +49 761 203-8005

About me

  • 05/2022 - up to now: Substitute professor and commissary head of the Autonomous Intelligent Systems group, University of Freiburg, Germany
  • 03/2020 - 04/2022: Senior Researcher at the Autonomous Intelligent Systems and Robotic Learning groups, University of Freiburg, Germany
  • 04/2014 - 03/2019: PhD in Computer Science at the Autonomous Intelligent Systems group of Prof. Dr. Wolfram Burgard, University of Freiburg, Germany
  • 05/2013 - 03/2014: Scientific Researcher, Fraunhofer Institute of Solar Energy Systems
  • 10/2007 - 04/2013: Diploma in Physics with minor in Computer Science, University of Freiburg

Research Interests

  • Reinforcement learning
  • Learning from demonstration
  • Robot manipulation
  • Dynamical Systems

Current Research Projects

Past Research Projects

Publications

Google scholar profile

2023

  • Nicolai Dorka, Tim Welschehold, Wolfram Burgard,
    Dynamic Update-to-Data Ratio: Minimizing World Model Overfitting
    International Conference on Learning Representations (ICLR), 2023.
    Also at: Decision Awareness in Reinforcement Learning Workshop at the International Conference on Machine Learning (ICML)
    , 2022.
    Download BibTeX
  • Abdelrahman Younes*, Daniel Honerkamp*, Tim Welschehold, Abhinav Valada,
    Catch Me If You Hear Me: Audio-Visual Navigation in Complex Unmapped Environments with Moving Sounds
    Robotics and Automation Letters (RA-L), 8(2), 2023.
    Download BibTeX
  • Nicolai Dorka, Tim Welschehold, Joschka Boedecker, Wolfram Burgard,
    Adaptively Calibrated Critic Estimates for Deep Reinforcement Learning
    Robotics and Automation Letters (RA-L), 8(2), 2023.
    Also at: Workshop on Deep Reinforcement Learning, Conference on Neural Information Processing Systems (NeurIPS)
    , 2021.
    Download BibTeX

2022

  • Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    N2M2:Learning Navigation for Arbitrary Mobile Manipulation Motions in Unseen and Dynamic Environments
    arXiv preprint arXiv:2206.08737, 2022.
    Download Video Demo BibTeX
  • Fabian Schmalstieg*, Daniel Honerkamp*, Tim Welschehold, Abhinav Valada,
    Learning Long-Horizon Robot Exploration Strategies for Multi-Object Search in Continuous Action Spaces
    Proceedings of the International Symposium on Robotics Research (ISRR), 2022.
    Download BibTeX
  • Iman Nematollahi, Erick Rosete-Beas, Adrian Röfer, Tim Welschehold, Abhinav Valada, Wolfram Burgard,
    Robot Skill Adaptation via Soft Actor-Critic Gaussian Mixture Models
    IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA, 2022.
    Download Video Project Page BibTeX
  • Jan Ole von Hartz, Eugenio Chisari , Tim Welschehold, Abhinav Valada,
    Self-Supervised Learning of Multi-Object Keypoints for Robotic Manipulation
    Reinforcement Learning for Contact-Rich Manipulation Workshop at ICRA, Philadelphia, USA, 2022.
    Download BibTeX
  • Eugenio Chisari , Tim Welschehold, Joschka Boedecker, Wolfram Burgard, Abhinav Valada,
    Correct Me if I am Wrong: Interactive Learning for Robotic Manipulation
    IEEE Robotics and Automation Letters (RA-L), 7(2):3695--3702, 2022.
    Download BibTeX
  • Shengchao Yan , Tim Welschehold, Daniel Büscher, Wolfram Burgard,
    Courteous Behavior of Automated Vehicles at Unsignalized Intersections via Reinforcement Learning
    IEEE Robotics and Automation Letters (RA-L),7(1):191--198., 2022.
    Download BibTeX
  • Laura Londoño, Adrian Röfer, Tim Welschehold, Abhinav Valada,
    Doing Right by Not Doing Wrong in Human-Robot Collaboration
    ACM/IEEE International Conference on Human-Robot Interaction Workshop on Fairness and Transparency in Human-Robot Interaction, 2022.
    Download BibTeX
  • Abdelrahman Younes, Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    SoundSpaces Challenge 2022 - 2nd Place
    Conference on Computer Vision and Pattern Recognition (CVPR) Embodied AI Workshop, 2022.
    Video Challenge

2021

  • Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    Learning Kinematic Feasibility for Mobile Manipulation through Deep Reinforcement Learning
    in IEEE Robotics and Automation Letters (RA-L) , 2021.
    Download Video Demo BibTeX
  • Abdelrahman Younes, Daniel Honerkamp, Tim Welschehold, Abhinav Valada,
    SoundSpaces Challenge - 1st Place
    Conference on Computer Vision and Pattern Recognition (CVPR) Embodied AI Workshop, 2021.
    Video Challenge

2020

  • Tim Welschehold
    Learning mobile manipulation actions from human demonstrations: an approach to learning and augmenting action models and their integration into task representations
    Ph.D. Dissertation

2019

  • Tim Welschehold, Nichola Abdo, Christian Dornhege, Wolfram Burgard
    Combined Task and Action Learning from Human Demonstrations for Mobile Manipulation Applications
    IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Macau, China, 2019.
    BibTeX
  • Iman Nematollahi , Daniel Kuhner, Tim Welschehold, Wolfram Burgard
    Augmenting Action Model Learning by Non-Geometric Features
    Proceedings of the International Conference on Robotics and Automation (ICRA), Montreal, Canada, 2019
    BibTeX

2018

  • Tim Welschehold, Christian Dornhege, Fabian Paus, Tamim Asfour, Wolfram Burgard
    Coupling Mobile Base And End-Effector Motion in Task Space
    Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018
    BibTeX
  • Christian Zimmermann, Tim Welschehold, Christian Dornhege, Wolfram Burgard, Thomas Brox
    3D Human Pose Estimation in RGBD Images for Robotic Task Learning
    In Proc. of the IEEE Int. Conf. on Robotics & Automation (ICRA), Brisbane, Australia, 2018.
    BibTeX

2017

  • Tim Welschehold, Christian Dornhege, Wolfram Burgard
    Learning Mobile Manipulation Actions from Human Demonstrations
    Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017
    BibTeX
  • Tim Welschehold, Nichola Abdo, Christian Dornhege, Wolfram Burgard
    Towards Learning Task Intentions from Human Demonstrations
    Workshop on “Learning for Collaborative Robotics: Enabling Flexible, Redeployable and Agile Industrial Applications” at the International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017
    BibTeX

2016

  • Tim Welschehold, Christian Dornhege, Wolfram Burgard
    Learning Manipulation Actions from Human Demonstrations
    Proceedings of the International Conference on Intelligent Robots and Systems (IROS), Daejeon, Korea, 2016
    BibTeX
  • Matthias Demant, Tim Welschehold, Marcus Oswald, Sebastian Bartsch, Thomas Brox, Stephan Schoenfelder, Stefan Rein
    Microcracks in Silicon Wafers I: Inline Detection and Implications of Crack Morphology on Wafer Strength
    IEEE Journal of Photovoltaics 6 (1),pp. 126-135, 2016
    BibTeX
  • Matthias Demant, Tim Welschehold, Sven Kluska, Stefan Rein
    Microcracks in Silicon Wafers II: Implications on Solar Cell Characteristics, Statistics and Physical Origin
    IEEE Journal of Photovoltaics 6 (1),pp. 136-144, 2016
    BibTeX

2014

  • Matthias Demant, Markus Oswald, Tim Welschehold, Sebastian Nold, Sebastian Bartsch, Stephan SChoenfelder, Stefan Rein
    Micro-Cracks in Silicon Wafers and Solar Cells: Detection and Rating of Mechanical Strength and Electrical Quality
    29th European Photovoltaic Solar Energy Conference and Exhibition (EU PVSEC), 2014
    BibTeX
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