Andre Gaschler

Contact

E-Mail:

Homepage: http://www.andre-gaschler.de

Short CV

• Since 07/2021: Tech Lead / Manager at Intrinsic, the robotics software and AI company at Alphabet.
• 07/2020--06/2021: Tech Lead / Manager, Robotics, at X, the moonshot factory
• 05/2017--06/2021: Software engineer at Google, from 05/2019 at X, the moonshot factory
• 05/2016: Doctoral degree from Technische Universität München
  Title of the dissertation: Efficient Geometric Predicates for Integrated Task and Motion Planning
  Thesis committee: Prof. Alois Knoll (main advisor), Prof. Oussama Khatib
• 04/2011--12/2016: Research assistant at fortiss GmbH Cyber-Physical Systems Lab affiliated to Technische Universität München
• 01/2013--03/2013, 02/2014: Visiting student at Stanford University, Artificial Intelligence Lab
  Hosts: Dr. Torsten Kröger, Prof. Oussama Khatib
• 10/2008--02/2011: Master of Science in Computer Science at Technische Universität München, Germany
• 08/2008--12/2008: Visiting student at Johns Hopkins University, Computational Interaction and Robotics Lab
  Host: Prof. Gregory Hager
• 10/2005--07/2008: Bachelor of Science in Information Systems (Wirtschaftsinformatik) at Technische Universität München, Germany

Software

• Open-source programming activity on GitHub
• I contributed to the open-source Robotics Library, mostly on its Ubuntu packages and its Windows installer.
• I am the main developer of the Bounding Mesh Library, which can compute a single-sided simplification of a given mesh. A bounding mesh includes or is included by the input mesh, and its precision can be controlled. This novel type of approximation is very useful for strict collision and distance queries, for instance in robot motion planning and control. For an online demo, see http://boundingmesh.com/.
• I wrote a small script to convert 3D rotations online, a calculator to normalize and convert between quaternions, Euler angles, axis-angle rotations and 3D rotation matrices.
• I contributed to the multi-modal manipulation planner MOPL. MOPL finds collision-free robot paths involving multiple grasps, pushes, and transfers to rearrange a set of objects.

Research Interests

• Integrated Task and Motion Planning (IROS 2015 Workshop, IROS 2016 Workshop)
• One-sided Mesh Approximation for Efficient Motion Planning (http://boundingmesh.com/)
• Motion Planning for Human-Robot Interaction
• Computer Vision for Robotics

Publications

• Google Scholar publication list
• dblp publication list

1. Markus Rickert, Andre Gaschler, and Alois Knoll. Applications in HHI: Physical cooperation. In Ambarish Goswami and Prahlad Vadakkepat, editors, Humanoid Robotics: A Reference. Springer, June 2018. [ DOI | .bib | .pdf ]
2. Andre Gaschler, Ronald P. A. Petrick, Oussama Khatib, and Alois Knoll. Kaboum: Knowledge-level action and bounding geometry motion planner. Journal of Artificial Intelligence Research, 61:323-362, Feb 2018. [ DOI | .bib | .pdf ]
3. Markus Rickert and Andre Gaschler. Robotics Library: An object-oriented approach to robot applications. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 733-740, Vancouver, BC, Canada, September 2017. [ DOI | .bib | .pdf ]
4. Mary Ellen Foster, Andre Gaschler, and Manuel Giuliani. Automatically classifying user engagement for dynamic multi-party human-robot interaction. International Journal of Social Robotics, Jul 2017. [ DOI | .bib | .pdf ]
5. Nikhil Somani, Markus Rickert, Andre Gaschler, Caixia Cai, Alexander Perzylo, and Alois Knoll. Task level robot programming using prioritized non-linear inequality constraints. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, Republic of Korea, October 2016. [ DOI | .bib | .pdf ]
6. Andre K. Gaschler. Efficient Geometric Predicates for Integrated Task and Motion Planning. Dissertation, Technische Universität München, Munich, Germany, 2016. [ .bib | .pdf ]
7. Alexander Perzylo, Nikhil Somani, Stefan Profanter, Andre Gaschler, Sascha Griffiths, Markus Rickert, and Alois Knoll. Ubiquitous semantics: Representing and exploiting knowledge, geometry, and language for cognitive robot systems. In Proceedings of the Workshop Towards Intelligent Social Robots - Current Advances in Cognitive Robotics, IEEE/RAS International Conference on Humanoid Robots (HUMANOIDS), Seoul, South Korea, November 2015. [ .bib | .pdf ]
8. Sören Jentzsch, Andre Gaschler, Oussama Khatib, and Alois Knoll. MOPL: A multi-modal path planner for generic manipulation tasks. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015. [ .bib | .pdf ]
9. Stephan Mühlbacher-Karrer, Andre Gaschler, and Hubert Zangl. Responsive fingers - capacitive sensing during object manipulation. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), September 2015. [ .bib ]
10. Nikhil Somani, Andre Gaschler, Markus Rickert, Alexander Perzylo, and Alois Knoll. Constraint-based task programming with CAD semantics: From intuitive specification to real-time control. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015. [ DOI | .bib | .pdf ]
11. Andre Gaschler, Quirin Fischer, and Alois Knoll. The bounding mesh algorithm. Technical Report TUM-I1522, Technische Universität München, Germany, June 2015. [ .bib | .pdf ]
12. Andre Gaschler, Ingmar Kessler, Ronald P. A. Petrick, and Alois Knoll. Extending the knowledge of volumes approach to robot task planning with efficient geometric predicates. In IEEE International Conference on Robotics and Automation (ICRA), pages 3061-3066, May 2015. [ .bib | .pdf ]
13. Guang Chen, Daniel Clarke, Manuel Giuliani, Andre Gaschler, and Alois Knoll. Combining unsupervised learning and discrimination for 3d action recognition. In Signal Processing, Elsevier, 2015. accepted. [ .bib ]
14. Chao Chen, Andre Gaschler, Markus Rickert, and Alois Knoll. Task planning for highly automated driving. In Proceedings of the IEEE Intelligent Vehicles Symposium, COEX, Seoul, Korea, 2015. [ .bib | .pdf ]
15. Ronald P. A. Petrick and Andre Gaschler. Knowledge-level planning for robot task planning and human-robot interaction. In RSS Workshop on Combining AI Reasoning and Cognitive Science with Robotics, 2015. [ .bib | .pdf ]
16. Guang Chen, Daniel Clarke, David Weikersdorfer, Manuel Giuliani, Andre Gaschler, and Alois Knoll. Multi-modality gesture detection and recognition with un-supervision, randomization and discrimination. In ChaLearn Looking at People Workshop, European Conference on Computer Vision (ECCV2014), September 2014. [ .bib ]
17. Simon Keizer, Mary Ellen Foster, Andre Gaschler, Manuel Giuliani, Amy Isard, and Oliver Lemon. Handling uncertain input in multi-user human-robot interaction. In Proceedings of the 23rd IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), August 2014. [ .bib | .pdf ]
18. Ronald P. A. Petrick and Andre Gaschler. Extending knowledge-level contingent planning for robot task planning. In International Conference on Automated Planning and Scheduling Workshop on Planning and Robotics (PlanRob 2014), June 2014. [ .bib | .pdf ]
19. Andre Gaschler, Maximilian Springer, Markus Rickert, and Alois Knoll. Intuitive robot tasks with augmented reality and virtual obstacles. In IEEE International Conference on Robotics and Automation (ICRA), June 2014. [ .bib | .pdf ]
20. Guang Chen, Manuel Giuliani, Daniel Clarke, Andre Gaschler, and Alois Knoll. Action recognition using ensemble weighted multi-instance learning. In IEEE International Conference on Robotics and Automation (ICRA), June 2014. [ .bib | .pdf ]
21. Andre Gaschler, Svetlana Nogina, Ronald P. A. Petrick, and Alois Knoll. Planning perception and action for cognitive mobile manipulators. In Proceedings of SPIE Volume 9025 - Intelligent Robots and Computer Vision XXXI: Algorithms and Techniques, San Francisco, CA, USA, February 2014. [ .bib | .pdf ]
22. Andre Gaschler, Ronald P. A. Petrick, Manuel Giuliani, Markus Rickert, and Alois Knoll. KVP: A Knowledge of Volumes Approach to Robot Task Planning. In IEEE/RSJ Intl Conf on Intelligent Robots and Systems (IROS), pages 202-208, November 2013. [ DOI | .bib | .pdf ]
23. Thomas Schlegl, Torsten Kröger, Andre Gaschler, Oussama Khatib, and Hubert Zangl. Virtual whiskers - highly responsive robot collision avoidance. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2013. [ .bib | .pdf ]
24. Simon Keizer, Mary Ellen Foster, Oliver Lemon, Andre Gaschler, and Manuel Giuliani. Training and evaluation of an MDP model for social multi-user human-robot interaction. In Proceedings of the 14th Annual SIGdial Meeting on Discourse and Dialogue, August 2013. [ .bib | .pdf ]
25. Andre Gaschler, Ronald P. A. Petrick, Torsten Kröger, Oussama Khatib, and Alois Knoll. Robot task and motion planning with sets of convex polyhedra. In Robotics: Science and Systems (RSS) Workshop on Combined Robot Motion Planning and AI Planning for Practical Applications, June 2013. [ .bib | .pdf ]
26. Andre Gaschler, Ronald P. A. Petrick, Torsten Kröger, Alois Knoll, and Oussama Khatib. Robot task planning with contingencies for run-time sensing. In IEEE International Conference on Robotics and Automation (ICRA) Workshop on Combining Task and Motion Planning, May 2013. [ .bib | .pdf ]
27. Mary Ellen Foster, Andre Gaschler, and Manuel Giuliani. How can i help you? comparing engagement classification strategies for a robot bartender. In Proceedings of the 15th ACM International Conference on Multimodal Interaction (ICMI 2013), Sydney, Australia, 2013. [ DOI | .bib | .pdf ]
28. Manuel Giuliani, Ronald P. A. Petrick, Mary Ellen Foster, Andre Gaschler, Amy Isard, Maria Pateraki, and Markos Sigalas. Comparing task-based and socially intelligent behaviour in a robot bartender. In Proceedings of the 15th ACM International Conference on Multimodal Interaction (ICMI 2013), Sydney, Australia, 2013. [ DOI | .bib | .pdf ]
29. Andre Gaschler, Sören Jentzsch, Manuel Giuliani, Kerstin Huth, Jan de Ruiter, and Alois Knoll. Social Behavior Recognition using body posture and head pose for Human-Robot Interaction. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2012. [ DOI | .bib | .pdf ]
30. Andre Gaschler, Kerstin Huth, Manuel Giuliani, Ingmar Kessler, Jan de Ruiter, and Alois Knoll. Modelling state of interaction from head poses for social Human-Robot Interaction. In Proceedings of the Gaze in Human-Robot Interaction Workshop held at the 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2012), Boston, MA, March 2012. [ .bib | .pdf ]
31. Mary Ellen Foster, Andre Gaschler, Manuel Giuliani, Amy Isard, Maria Pateraki, and Ronald P. A. Petrick. Two people walk into a bar: Dynamic multi-party social interaction with a robot agent. In Proceedings of the 14th ACM International Conference on Multimodal Interaction (ICMI 2012), 2012. [ .bib | .pdf ]
32. S. Wittmeier, A. Gaschler, M. Jantsch, K. Dalamagkidis, and A. Knoll. Calibration of a physics-based model of an anthropomimetic robot using evolution strategies. In Intelligent Robots and Systems (IROS), 2012 IEEE/RSJ InternationalConference on, pages 445-450, Oct 2012. [ DOI | .bib | .pdf ]
33. Feihu Zhang, Hauke Staehle, Andre Gaschler, Christian Buckl, and Alois Knoll. Single camera visual odometry based on random finite set statistics. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2012. [ .bib | .pdf ]
34. Andre Gaschler. Real-time marker-based motion tracking: Application to kinematic model estimation of a humanoid robot. Master's thesis, Technische Universität München, Germany, February 2011. [ .bib | .pdf ]
35. Andre Gaschler. Visual motion capturing for kinematic model estimation of a humanoid robot. In Rudolf Mester and Michael Felsberg, editors, Pattern Recognition, 33rd DAGM Symposium, volume 6835 of Lecture Notes in Computer Science, pages 438-443, Frankfurt, Germany, 2011. Springer. [ DOI | .bib | .pdf ]
36. Andre Gaschler. A software architecture for robot control and its application to social robotics. In tutorial 'Joint Action for Social Robotics' at 3rd International Conference on Social Robotics (ICSR), 2011. [ .bib | .pdf ]
37. Andre Gaschler, Darius Burschka, and Gregory Hager. Epipolar-based stereo tracking without explicit 3d reconstruction. In Pattern Recognition (ICPR 2010), Proc. 20th International Conference on, Istanbul, Turkey, 2010. [ DOI | .bib | .pdf ]