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2025

How Many Tokens Do 3D Point Cloud Transformer Architectures Really Need?

Tuan Anh Tran and Duy Minh Ho Nguyen and Hoai-Chau Tran and Michael Barz and Khoa D Doan and Roger Wattenhofer and Vien Anh Ngo and Mathias Niepert and Daniel Sonntag and Paul Swoboda

Advances in Neural Information Processing Systems (NeurIPS)

[DOI] [Code]

How Many Tokens Do 3D Point Cloud Transformer Architectures Really Need?

Tuan Anh Tran and Duy Minh Ho Nguyen and Hoai-Chau Tran and Michael Barz and Khoa D Doan and Roger Wattenhofer and Vien Anh Ngo and Mathias Niepert and Daniel Sonntag and Paul Swoboda

Advances in Neural Information Processing Systems (NeurIPS)

[DOI] [Code]

Enhancing Exploration With Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation

Huy Le and Tai Hoang and Miroslav Gabriel and Gerhard Neumann and Ngo Anh Vien

IEEE Robotics Autom. Lett. (RAL)

[DOI] [Project page]

Enhancing Exploration With Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation

Huy Le and Tai Hoang and Miroslav Gabriel and Gerhard Neumann and Ngo Anh Vien

IEEE Robotics Autom. Lett. (RAL)

[DOI] [Project page]

Diffusion for Multi-Embodiment Grasping

Roman Freiberg and Alexander Qualmann and Ngo Anh Vien and Gerhard Neumann

IEEE Robotics Autom. Lett. (RAL)

[DOI]

Diffusion for Multi-Embodiment Grasping

Roman Freiberg and Alexander Qualmann and Ngo Anh Vien and Gerhard Neumann

IEEE Robotics Autom. Lett. (RAL)

[DOI]

Efficient Off-Policy Learning for High-Dimensional Action Spaces

Fabian Otto and Philipp Becker and Ngo Anh Vien and Gerhard Neumann

The Thirteenth International Conference on Learning Representations, ICLR 2025, Singapore, April 24-28, 2025

[Link]

Efficient Off-Policy Learning for High-Dimensional Action Spaces

Fabian Otto and Philipp Becker and Ngo Anh Vien and Gerhard Neumann

The Thirteenth International Conference on Learning Representations, ICLR 2025, Singapore, April 24-28, 2025

[Link]

Geometry-aware RL for Manipulation of Varying Shapes and Deformable Objects

Tai Hoang and Huy Le and Philipp Becker and Ngo Anh Vien and Gerhard Neumann

The Thirteenth International Conference on Learning Representations, ICLR 2025, Singapore, April 24-28, 2025

[Link] [Project page]

Geometry-aware RL for Manipulation of Varying Shapes and Deformable Objects

Tai Hoang and Huy Le and Philipp Becker and Ngo Anh Vien and Gerhard Neumann

The Thirteenth International Conference on Learning Representations, ICLR 2025, Singapore, April 24-28, 2025

[Link] [Project page]

2024

Uncertainty-driven Exploration Strategies for Online Grasp Learning

Yitian Shi and Philipp Schillinger and Miroslav Gabriel and Alexander Qualmann and Zohar Feldman and Hanna Ziesche and Ngo Anh Vien

IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024

[DOI] [Video]

Uncertainty-driven Exploration Strategies for Online Grasp Learning

Yitian Shi and Philipp Schillinger and Miroslav Gabriel and Alexander Qualmann and Zohar Feldman and Hanna Ziesche and Ngo Anh Vien

IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024

[DOI] [Video]

Efficient End-to-End Detection of 6-DoF Grasps for Robotic Bin Picking

Yushi Liu and Alexander Qualmann and Zehao Yu and Miroslav Gabriel and Philipp Schillinger and Markus Spies and Ngo Anh Vien and Andreas Geiger

IEEE International Conference on Robotics and Automation, {ICRA} 2024, Yokohama, Japan, May 13-17, 2024

[DOI] [Video]

Efficient End-to-End Detection of 6-DoF Grasps for Robotic Bin Picking

Yushi Liu and Alexander Qualmann and Zehao Yu and Miroslav Gabriel and Philipp Schillinger and Markus Spies and Ngo Anh Vien and Andreas Geiger

IEEE International Conference on Robotics and Automation, {ICRA} 2024, Yokohama, Japan, May 13-17, 2024

[DOI] [Video]

Pseudo Labeling and Contextual Curriculum Learning for Online Grasp Learning in Robotic Bin Picking

Huy Le and Philipp Schillinger and Miroslav Gabriel and Alexander Qualmann and Ngo Anh Vien

IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024

[DOI] [Video]

Pseudo Labeling and Contextual Curriculum Learning for Online Grasp Learning in Robotic Bin Picking

Huy Le and Philipp Schillinger and Miroslav Gabriel and Alexander Qualmann and Ngo Anh Vien

IEEE International Conference on Robotics and Automation, ICRA 2024, Yokohama, Japan, May 13-17, 2024

[DOI] [Video]

2023

SyMFM6D: Symmetry-Aware Multi-Directional Fusion for Multi-View 6D Object Pose Estimation

Fabian Duffhauss and Sebastian Koch and Hanna Ziesche and Ngo Anh Vien and Gerhard Neumann

IEEE Robotics Autom. Lett.

[DOI] [Code]

SyMFM6D: Symmetry-Aware Multi-Directional Fusion for Multi-View 6D Object Pose Estimation

Fabian Duffhauss and Sebastian Koch and Hanna Ziesche and Ngo Anh Vien and Gerhard Neumann

IEEE Robotics Autom. Lett.

[DOI] [Code]

Model-Free Grasping with Multi-Suction Cup Grippers for Robotic Bin Picking

Philipp Schillinger and Miroslav Gabriel and Alexander Kuss and Hanna Ziesche and Ngo Anh Vien

{IROS}

[DOI]

Model-Free Grasping with Multi-Suction Cup Grippers for Robotic Bin Picking

Philipp Schillinger and Miroslav Gabriel and Alexander Kuss and Hanna Ziesche and Ngo Anh Vien

{IROS}

[DOI]

SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded Objects

Ning Gao and Ngo Anh Vien and Hanna Ziesche and Gerhard Neumann

Conference on Robot Learning, CoRL 2023, 6-9 November 2023, Atlanta, GA, {USA}

[Link] [Project page]

SA6D: Self-Adaptive Few-Shot 6D Pose Estimator for Novel and Occluded Objects

Ning Gao and Ngo Anh Vien and Hanna Ziesche and Gerhard Neumann

Conference on Robot Learning, CoRL 2023, 6-9 November 2023, Atlanta, GA, {USA}

[Link] [Project page]

2022

Hierarchical Policy Learning for Mechanical Search

Oussama Zenkri and Ngo Anh Vien and Gerhard Neumann

2022 International Conference on Robotics and Automation, {ICRA} 2022, Philadelphia, PA, USA, May 23-27, 2022

[DOI] []

Hierarchical Policy Learning for Mechanical Search

Oussama Zenkri and Ngo Anh Vien and Gerhard Neumann

2022 International Conference on Robotics and Automation, {ICRA} 2022, Philadelphia, PA, USA, May 23-27, 2022

[DOI] []

A Hybrid Approach for Learning to Shift and Grasp with Elaborate Motion Primitives

Zohar Feldman and Hanna Ziesche and Ngo Anh Vien and Dotan Di Castro

2022 International Conference on Robotics and Automation, {ICRA} 2022, Philadelphia, PA, USA, May 23-27, 2022

[DOI]

A Hybrid Approach for Learning to Shift and Grasp with Elaborate Motion Primitives

Zohar Feldman and Hanna Ziesche and Ngo Anh Vien and Dotan Di Castro

2022 International Conference on Robotics and Automation, {ICRA} 2022, Philadelphia, PA, USA, May 23-27, 2022

[DOI]

FusionVAE: A Deep Hierarchical Variational Autoencoder for {RGB} Image Fusion

Fabian Duffhauss and Ngo Anh Vien and Hanna Ziesche and Gerhard Neumann

Computer Vision - {ECCV} 2022 - 17th European Conference, Tel Aviv, Israel, October 23-27, 2022, Proceedings, Part {XXXIX}

[DOI]

FusionVAE: A Deep Hierarchical Variational Autoencoder for {RGB} Image Fusion

Fabian Duffhauss and Ngo Anh Vien and Hanna Ziesche and Gerhard Neumann

Computer Vision - {ECCV} 2022 - 17th European Conference, Tel Aviv, Israel, October 23-27, 2022, Proceedings, Part {XXXIX}

[DOI]

What Matters For Meta-Learning Vision Regression Tasks?

Ning Gao and Hanna Ziesche and Ngo Anh Vien and Michael Volpp and Gerhard Neumann

IEEE/CVF} Conference on Computer Vision and Pattern Recognition, {CVPR} 2022, New Orleans, LA, USA, June 18-24, 2022

[DOI] [Code]

What Matters For Meta-Learning Vision Regression Tasks?

Ning Gao and Hanna Ziesche and Ngo Anh Vien and Michael Volpp and Gerhard Neumann

IEEE/CVF} Conference on Computer Vision and Pattern Recognition, {CVPR} 2022, New Orleans, LA, USA, June 18-24, 2022

[DOI] [Code]

Deep Black-Box Reinforcement Learning with Movement Primitives

Fabian Otto and Onur Celik and Hongyi Zhou and Hanna Ziesche and Ngo Anh Vien and Gerhard Neumann

Conference on Robot Learning, CoRL 2022, 14-18 December 2022, Auckland, New Zealand

[Link]

Deep Black-Box Reinforcement Learning with Movement Primitives

Fabian Otto and Onur Celik and Hongyi Zhou and Hanna Ziesche and Ngo Anh Vien and Gerhard Neumann

Conference on Robot Learning, CoRL 2022, 14-18 December 2022, Auckland, New Zealand

[Link]

2021

Non-local Graph Convolutional Network for joint Activity Recognition and Motion Prediction

Dianhao Zhang and Ngo Anh Vien and Mien Van and Se{\'{a}}n F. McLoone

IEEE/RSJ} International Conference on Intelligent Robots and Systems, {IROS} 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021

[DOI]

Non-local Graph Convolutional Network for joint Activity Recognition and Motion Prediction

Dianhao Zhang and Ngo Anh Vien and Mien Van and Se{\'{a}}n F. McLoone

IEEE/RSJ} International Conference on Intelligent Robots and Systems, {IROS} 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021

[DOI]

Residual Feedback Learning for Contact-Rich Manipulation Tasks with Uncertainty

Alireza Ranjbar and Ngo Anh Vien and Hanna Ziesche and Joschka Boedecker and Gerhard Neumann

IEEE/RSJ} International Conference on Intelligent Robots and Systems, {IROS} 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021

[DOI]

Residual Feedback Learning for Contact-Rich Manipulation Tasks with Uncertainty

Alireza Ranjbar and Ngo Anh Vien and Hanna Ziesche and Joschka Boedecker and Gerhard Neumann

IEEE/RSJ} International Conference on Intelligent Robots and Systems, {IROS} 2021, Prague, Czech Republic, September 27 - Oct. 1, 2021

[DOI]

Differentiable Trust Region Layers for Deep Reinforcement Learning

Fabian Otto and Philipp Becker and Ngo Anh Vien and Hanna Carolin Maria Ziesche and Gerhard Neumann

9th International Conference on Learning Representations, ICLR 2021, Virtual Event, Austria, May 3-7, 2021

[Link] [Code]

Differentiable Trust Region Layers for Deep Reinforcement Learning

Fabian Otto and Philipp Becker and Ngo Anh Vien and Hanna Carolin Maria Ziesche and Gerhard Neumann

9th International Conference on Learning Representations, ICLR 2021, Virtual Event, Austria, May 3-7, 2021

[Link] [Code]

2018

Bayesian Functional Optimization

Ngo Anh Vien and Heiko Zimmermann and Marc Toussaint

Proceedings of the Thirty-Second AAAI Conference on Artificial Intelligence, (AAAI-18), the 30th innovative Applications of Artificial Intelligence (IAAI-18), and the 8th AAAI Symposium on Educational Advances in Artificial Intelligence (EAAI-18), New Orleans, Louisiana, USA, February 2-7, 2018

[DOI] [Link]

Bayesian Functional Optimization

Ngo Anh Vien and Heiko Zimmermann and Marc Toussaint

Proceedings of the Thirty-Second AAAI Conference on Artificial Intelligence, (AAAI-18), the 30th innovative Applications of Artificial Intelligence (IAAI-18), and the 8th AAAI Symposium on Educational Advances in Artificial Intelligence (EAAI-18), New Orleans, Louisiana, USA, February 2-7, 2018

[DOI] [Link]

2017

Inverse KKTLearning cost functions of manipulation tasks from demonstrations

Peter Englert and Ngo Anh Vien and Marc Toussaint

Int. J. Robotics Res.

[DOI]

Inverse KKTLearning cost functions of manipulation tasks from demonstrations

Peter Englert and Ngo Anh Vien and Marc Toussaint

Int. J. Robotics Res.

[DOI]

2016

Policy Search in Reproducing Kernel Hilbert Space

Ngo Anh Vien and Peter Englert and Marc Toussaint

Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence, IJCAI 2016, New York, NY, USA, 9-15 July 2016

[Link]

Policy Search in Reproducing Kernel Hilbert Space

Ngo Anh Vien and Peter Englert and Marc Toussaint

Proceedings of the Twenty-Fifth International Joint Conference on Artificial Intelligence, IJCAI 2016, New York, NY, USA, 9-15 July 2016

[Link]

Relational activity processes for modeling concurrent cooperation

Marc Toussaint and Thibaut Munzer and Yoan Mollard and Li Yang Wu and Ngo Anh Vien and Manuel Lopes

2016 IEEE International Conference on Robotics and Automation, {ICRA} 2016, Stockholm, Sweden, May 16-21, 2016

[DOI]

Relational activity processes for modeling concurrent cooperation

Marc Toussaint and Thibaut Munzer and Yoan Mollard and Li Yang Wu and Ngo Anh Vien and Manuel Lopes

2016 IEEE International Conference on Robotics and Automation, {ICRA} 2016, Stockholm, Sweden, May 16-21, 2016

[DOI]

2015

POMDP manipulation via trajectory optimization

Ngo Anh Vien and Marc Toussaint

2015 IEEE/RSJ} International Conference on Intelligent Robots and Systems, {IROS} 2015, Hamburg, Germany, September 28 - October 2, 2015

[DOI]

POMDP manipulation via trajectory optimization

Ngo Anh Vien and Marc Toussaint

2015 IEEE/RSJ} International Conference on Intelligent Robots and Systems, {IROS} 2015, Hamburg, Germany, September 28 - October 2, 2015

[DOI]

Hierarchical Monte-Carlo Planning

Ngo Anh Vien and Marc Toussaint

Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence, January 25-30, 2015, Austin, Texas, {USA}

[DOI] [Link]

Hierarchical Monte-Carlo Planning

Ngo Anh Vien and Marc Toussaint

Proceedings of the Twenty-Ninth AAAI Conference on Artificial Intelligence, January 25-30, 2015, Austin, Texas, {USA}

[DOI] [Link]

2014

Model-Based Relational {RL} When Object Existence is Partially Observable

Ngo Anh Vien and Marc Toussaint

Proceedings of the 31th International Conference on Machine Learning, {ICML} 2014, Beijing, China, 21-26 June 2014

[Link]

Model-Based Relational {RL} When Object Existence is Partially Observable

Ngo Anh Vien and Marc Toussaint

Proceedings of the 31th International Conference on Machine Learning, {ICML} 2014, Beijing, China, 21-26 June 2014

[Link]

2013

Upper Confidence Weighted Learning for Efficient Exploration in Multiclass Prediction with Binary Feedback

Hung Quoc Ngo and Matthew David Luciw and Ngo Anh Vien and J{\"{u}}rgen Schmidhuber

IJCAI 2013, Proceedings of the 23rd International Joint Conference on Artificial Intelligence, Beijing, China, August 3-9, 2013

[Link]

Upper Confidence Weighted Learning for Efficient Exploration in Multiclass Prediction with Binary Feedback

Hung Quoc Ngo and Matthew David Luciw and Ngo Anh Vien and J{\"{u}}rgen Schmidhuber

IJCAI 2013, Proceedings of the 23rd International Joint Conference on Artificial Intelligence, Beijing, China, August 3-9, 2013

[Link]

Reasoning with Uncertainties Over Existence of Objects

Ngo Anh Vien and Marc Toussaint

2013 AAAI Fall Symposia, Arlington, Virginia, USA, November 15-17, 2013

[Link]

Reasoning with Uncertainties Over Existence of Objects

Ngo Anh Vien and Marc Toussaint

2013 AAAI Fall Symposia, Arlington, Virginia, USA, November 15-17, 2013

[Link]

2010

Monte Carlo Value Iteration for Continuous-State POMDPs

Haoyu Bai and David Hsu and Wee Sun Lee and Ngo Anh Vien

Algorithmic Foundations of Robotics {IX} - Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics, {WAFR} 2010, Singapore, December 13-15, 2010

[DOI]

Monte Carlo Value Iteration for Continuous-State POMDPs

Haoyu Bai and David Hsu and Wee Sun Lee and Ngo Anh Vien

Algorithmic Foundations of Robotics {IX} - Selected Contributions of the Ninth International Workshop on the Algorithmic Foundations of Robotics, {WAFR} 2010, Singapore, December 13-15, 2010

[DOI]