Gayane Kazhoyan

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Research Staff
Room: -
Tel: -
Fax: +49 421 218 64047
Mail: kazhoyan(at)cs[dot]uni-bremen[dot]de

Gayane (shortly Gaya) is a research associate at the Institute for Artificial Intelligence at the University of Bremen, lead by Michael Beetz. Her research focus is on task-level robot control and plan executives. She has more than 10 years of experience in mobile manipulation with physical robots such as the PR2, TIAGo, HSR, TurtleBot, LWR, UR and a multitude of simulated robots. The main application areas are everyday actions in a household as well as mobile pick and place in retail and assembly. In 2021 Gayane was an intern at Intrinsic, the robotics spin-off of Google. In 2019 she was a visiting researcher at the LIS group at MIT. Prior to joining Michael Beetz's group in November 2013, she worked for one year as a researcher at Kastanienbaum GmbH, now Franka Emika, led by Sami Haddadin, in tight collaboration with the Robotics and Mechatronics Center of DLR. Gayane has a M.Sc. degree in Informatics with a major in AI and Robotics from the Technical University of Munich and a B.Eng. degree in Informatics with a major in Information Security from the State Engineering University of Armenia.

Projects

Software projects

Current main developer and maintainer of cognition-enabled plan executive CRAM.

Teaching

Supervised Thesis

Supervised Student Assistants

Supervised Student Projects

Publications

Books
[1]Cavallo, Alberto, Costanzo, Marco, De Maria, Giuseppe, Natale, Ciro, Pirozzi, Salvatore, Stelter, Simon, Kazhoyan, Gayane, Koralewski, Sebastian and Beetz, Michael, "Robotic Clerks: Autonomous Shelf Refilling", Springer International Publishing, Cham, pp. 137–170, 2022. [bibtex] [url] [doi]
Journal Articles and Book Chapters
[2]Bozcuoglu, Asil Kaan, Kazhoyan, Gayane, Furuta, Yuki, Stelter, Simon, Beetz, Michael, Okada, Kei and Inaba, Masayuki, "The Exchange of Knowledge using Cloud Robotics", In Robotics and Automation Letters, IEEE, vol. 3, no. 2, pp. 1072-1079, 2018. [bibtex] [doi]
[3]Koralewski, Sebastian, Kazhoyan, Gayane and Beetz, Michael, "Self-specialization of General Robot Plans Based on Experience", In Robotics and Automation Letters, IEEE, 2019. [bibtex]
[4]Richter-Klug, Jesse, Mania, Patrick, Kazhoyan, Gayane, Beetz, Michael and Frese, Udo, "Improving Object Pose Estimation by Fusion With a Multimodal Prior – Utilizing Uncertainty-Based CNN Pipelines for Robotics", In IEEE Robotics and Automation Letters, vol. 7, no. 2, pp. 2282-2288, 2022. [bibtex] [doi]
Conference Papers
[5]Gayane Kazhoyan and Michael Beetz, "Programming Robotic Agents with Action Descriptions", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, pp. 103-108, 2017. [bibtex] [doi]
[6]Bozcuoglu, Asil Kaan, Kazhoyan, Gayane, Furuta, Yuki, Stelter, Simon, Beetz, Michael, Okada, Kei and Inaba, Masayuki, "The Exchange of Knowledge using Cloud Robotics", In International Conference on Robotics and Automation (ICRA), Brisbane, Australia, 2018. Finalist for the Best Cognitive Robotics Paper Award, Finalist for the Best Service Robotics Paper Award. [bibtex]
[7]Yazdani, Fereshta, Kazhoyan, Gayane, Bozcuoglu, Asil Kaan, Haidu, Andrei, Balint-Benczedi, Ferenc, Beßler, Daniel, Pomarlan, Mihai and Beetz, Michael, "Cognition-enabled Framework for Mixed Human-Robot Rescue Team", In International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018. [bibtex]
[8]Gayane Kazhoyan and Michael Beetz, "Accomplishing Variations of Mobile Manipulation Actions through Generalized Robot Plans", In Proceedings of the Seventh Annual Conference on Advances in Cognitive Systems, 2019. [bibtex]
[9]Gayane Kazhoyan and Michael Beetz, "Executing Underspecified Actions in Real World Based on Online Projection", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. [bibtex] [doi]
[10]Gayane Kazhoyan, Arthur Niedzwiecki and Michael Beetz, "Towards Plan Transformations for Real-World Mobile Fetch and Place", In IEEE International Conference on Robotics and Automation (ICRA), 2020. [bibtex] [doi]
[11]Gayane Kazhoyan, Alina Hawkin, Sebastian Koralewski, Andrei Haidu and Michael Beetz, "Learning Motion Parameterizations of Mobile Pick and Place Actions from Observing Humans in Virtual Environments", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020. [bibtex] [doi]
[12]Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski and Michael Beetz, "The Robot Household Marathon Experiment", In IEEE International Conference on Robotics and Automation (ICRA), 2021. Accepted for publication. [bibtex] [url]
[13]Mania, Patrick, Stelter, Simon, Kazhoyan, Gayane and Beetz, Michael, "An Open and Flexible Robot Perception Framework for Mobile Manipulation Tasks", In 2024 International Conference on Robotics and Automation (ICRA), 2024. [bibtex]
Workshop Papers
[14]Michael Beetz, Daniel Beßler and Gayane Kazhoyan, "Robotic Agents that Know What They are Doing", In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Vancouver, Canada, 2017. [bibtex]
Other Publications
[15]Gayane Kazhoyan, Simon Stelter, Franklin Kenghagho Kenfack, Sebastian Koralewski and Michael Beetz, "The Robot Household Marathon Experiment", 2020. [bibtex] [url]
[16]Michael Beetz, Gayane Kazhoyan and David Vernon, "The CRAM Cognitive Architecture for Robot Manipulation in Everyday Activities", 2023. [bibtex]