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Elias Steiner

dblp:429/0038 · DBLP profile ↗
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1ranked-venue papers
0as first author
1since 2021 · last 2026
0009-0003-7072-5867ORCID · reported

Domains — the database's venue-derived domains; a paper can count in several

Artificial intelligence and machine learning · 1 · 1 since 2021Human-computer interaction and ubiquitous computing · 1 · 1 since 2021

Expertise — from the expertise taxonomy: the topics of the expert's papers under the CCF categories. A weight counts papers with recency: 1 for a paper about the topic, 0.3 when the topic is its context, halved every five years.

Human-computer interaction and pervasive computing
1 paper
Human-robot interaction · 100%
Artificial intelligence
1 paper
Robot manipulation · 100%

Topics — the 2 heaviest of 2, each with the papers that count most for it

TopicWeightPapersLastEvidence papers
Human-robot interaction › physical human-robot interaction › object handover
human-to-robot handover
1.012026
Task-Oriented Robot-Human Handovers on Legged Manipulators · HRI 2026
Robotics › Robot manipulation › mobile manipulation
legged manipulators
0.312026
Task-Oriented Robot-Human Handovers on Legged Manipulators · HRI 2026

Methods — techniques the papers use, named apart from their topics

texture-based affordance transfer · 2.0point cloud transfer · 2.0large language model · 2.0affordance reasoning · 2.0
YearPublicationVenuePosition
2026 Task-Oriented Robot-Human Handovers on Legged Manipulators
abstract
Task-oriented handovers (TOH) are fundamental to effective human-robot collaboration, requiring robots to present objects in a way that supports the human’s intended post-handover use. Existing approaches are typically based on object- or task-specific affordances, but their ability to generalize to novel scenarios is limited. To address this gap, we present AFT-Handover, a framework that integrates large language model (LLM)-driven affordance reasoning with efficient texture-based affordance transfer to achieve zero-shot, generalizable TOH. Given a novel object-task pair, the method retrieves a proxy exemplar from a database, establishes part-level correspondences via LLM reasoning, and texturizes affordances for feature-based point cloud transfer. We evaluate AFT-Handover across diverse task-object pairs, showing improved handover success rates and stronger generalization compared to baselines. In a comparative user study, our framework is significantly preferred over the current state-of-the-art, effectively reducing human regrasping before tool use. Finally, we demonstrate TOH on legged manipulators, highlighting the potential of our framework for real-world robot-human handovers.
Andreea Tulbure, Carmen Scheidemann, Elias Steiner, Marco Hutter 0001
HRI3