Publications

You can check also my google scholar profile. 

Some of the publications are grouped based on the topics within the Research tabs. 

(reverse chronological order within categories)

Journals

Gama, F.; Misar, M.; Navara, L.; Popescu, S. T. & Hoffmann, M. (2025), 'Automatic infant 2D pose estimation from videos: comparing seven deep neural network methods', Behavior Research Methods 57(280). [link to Springer free access][DOI - Springer Nature page][pdf-arxiv][dockerhub][data on osf]

Rozlivek, J.; Roncone, A.; Pattacini, U. & Hoffmann, M. (2025), 'HARMONIOUS – Human-like reactive motion control and multimodal perception for humanoid robots', IEEE Transactions on Robotics 41, 378 - 393.  [publication page][DOI - IEEE Xplore][pdf-arxiv][code][youtube-video]

Shahriari, E., Svarny, P., Birjandi, S. A. B., Hoffmann, M. and Haddadin, S. (2025), 'Path-Constrained Haptic Motion Guidance via Adaptive Phase-Based Admittance Control', IEEE Transactions on Robotics 41, 1039-1058. [DOI - IEEX Xplore]

D’Angelo, G., Clerico, V., Bartolozzi, C., Hoffmann, M., Furlong, P. M. and Hadjiivanov, A. (2025), 'Wandering around: A bioinspired approach to visual attention through object motion sensitivity', Neuromorphic Computing and Engineering 5(2), 024019. [DOI - Open Access] [youtube-video]

Rustler, L., Volprecht, V. and Hoffmann, M. (2025), 'Empirical Comparison of Four Stereoscopic Depth Sensing Cameras for Robotics Applications', IEEE Access 13, 67564 - 67577. [DOI - IEEE XPlore, Open Access]

Pliska, M., Patni, S. P., Mares, M., Stoudek, P., Straka, Z., Stepanova, K. and Hoffmann, M. (2024), 'Single-grasp deformable object discrimination: the effect of gripper morphology, sensing modalities, and action parameters', IEEE Transactions on Robotics  40, 4414 - 4426. [DOI - IEEE Xplore][pdf-arxiv][data: https://osf.io/zetg3/][youtube-video]

Straka, Z., Svoboda, T. and Hoffmann, M. (2024), 'PreCNet: next frame video prediction based on predictive coding', IEEE Transactions on Neural Networks and Learning Systems 35(8), 10353-10367. [DOI - IEEE Xplore][pdf-arxiv]

Patni, S. P., Stoudek, P., Chlup, H. and Hoffmann, M. (2024), 'Online elasticity estimation and material sorting using standard robot grippers', The International Journal of Advanced Manufacturing Technology, 1-19. [DOI, Open Access] [data: https://osf.io/gec6s/] [video1 - elasticity estimation]  [video2 - online material sorting] 

Gama, F.; Shcherban, M.; Rolf, M. & Hoffmann, M. (2023), 'Goal-directed tactile exploration for body model learning through self-touch on a humanoid robot', IEEE Transactions on Cognitive and Developmental Systems 15 (2), 419-433. [IEEE Xplore - Open access][youtube-video]

Somogyi, E.; Hamilton, M.; Chinn, L. K.; Jacquey, L.; Heed, T.; Hoffmann, M.; Lockman, J. J.; Fagard, J. & O'Regan, J. K. (2023), 'Tactile training facilitates infants' ability to reach to targets on the body', Child development 94 (3), e154-e165. [DOI]

Straka, Z., Noel, J.-P. and Hoffmann, M. (2022), 'A normative model of peripersonal space encoding as performing impact prediction', PLoS Computational Biology 18(9), e1010464. [OPEN ACCESS]

Svarny, P., Rozlivek, J., Rustler, L., Sramek, M., Deli, Ö., Zillich, M. and Hoffmann, M. (2022), 'Effect of active and passive protective soft skins on collision forces in human–robot collaboration', Robotics and Computer-Integrated Manufacturing 78, 102363. [DOI - sciencedirect][arxiv-pdf][dataset][youtube-video]

Rustler, L., Lundell, J., Behrens, J. K., Kyrki, V., & Hoffmann, M. (2022). 'Active Visuo-Haptic Object Shape Completion'. IEEE Robotics and Automation Letters 7 (2), 5254-5261. [DOI IEEE Xplore][arxiv][code and data][youtube-video][video presentation for ICRA]

Stepanova, K.; Rozlivek, J.; Puciow, F.; Krsek, P.; Pajdla, T. & Hoffmann, M. (2022), 'Automatic self-contained calibration of an industrial dual-arm robot with cameras using self-contact, planar constraints, and self-observation', Robotics and Computer-Integrated Manufacturing 73, 102250. [DOI][Elsevier - OPEN ACCESS pdf][youtube-video]

Hoffmann, M.; Wang, S.; Outrata, V.; Alzueta, E. & Lanillos, P. (2021), 'Robot in the mirror: Toward an embodied computational model of mirror self-recognition', KI - Künstliche Intelligenz 35, 37-51. [Springer][arxiv][video]

Hoffmann, M.; Lanillos, P.; Jamone, L.; Pitti, A. & Somogyi, E. (2020), 'Body Representations, Peripersonal Space, and the Self: Humans, Animals, Robots', Frontiers in Neurorobotics 14, 35. [Open Access]

Taniguchi, T.; Ugur, E.; Hoffmann, M.; Jamone, L.; Nagai, T.; Rosman, B.; Matsuka, T.; Iwahashi, N.; Oztop, E.; Piater, J. & Wörgötter, F. (2019), 'Symbol Emergence in Cognitive Developmental Systems: a Survey', IEEE Transactions on Cognitive and Developmental Systems 11 (4), 494-516. [IEEE Xplore - Open access] 

Stepanova, K.; Pajdla, T. & Hoffmann, M. (2019), 'Robot self-calibration using multiple kinematic chains – a simulation study on the iCub humanoid robot', IEEE Robotics and Automation Letters 4(2), 1900-1907. [IEEE Xplore] [publication webpage] [arxiv] [youtube-video]

Chinn, L. K.; Hoffmann, M.; Leed, J. E. & Lockman, J. J. (2019), 'Reaching with one arm to the other: Coordinating touch, proprioception, and action during infancy', Journal of Experimental Child Psychology 183, 19-32. [Science Direct]

Chinn, L. K.; Noonan, C.F.; Hoffmann, M. & Lockman, J. J. (2019), 'Development of infant reaching strategies to tactile targets on the face', Front. Psychol. 10, 9. [Open Access]

Moulin-Frier, C.; Fischer, T.; Petit, M.; Pointeau, G.; Puigbo, J.-Y.; Pattacini, U.; Low, S. C.; Camilleri, D.; Nguyen, P.; Hoffmann, M.; Chang, H. J.; Zambelli, M.; Mealier, A.-L.; Damianou, A.; Metta, G.; Prescott, T. J.; Demiris, Y.; Dominey, P. F. & Verschure, P. F. (2018), 'DAC-h3: A Proactive Robot Cognitive Architecture to Acquire and Express Knowledge About the World and the Self', IEEE Transactions on Cognitive and Developmental Systems 10 (4), 1005-1022. [IEEE Xplore]

Hoffmann, M.; Straka, Z.; Farkas, I.; Vavrecka, M. & Metta, G. (2018), 'Robotic homunculus: Learning of artificial skin representation in a humanoid robot motivated by primary somatosensory cortex', IEEE Transactions on Cognitive and Developmental Systems 10 (2), 163-176. [IEEE Xplore][postprint-pdf][long video][short video]

Somogyi, E.; Jacquey, L.; Heed, T.; Hoffmann, M.; Lockman, J.; Granjon, L.; Fagard, J. & O'Regan, J. K. (2018), 'Which limb is it? Responses to vibrotactile stimulation in early infancy', British Journal of Developmental Psychology 36(3), 384-401. [Open Access]

Müller, V.C. & Hoffmann, M. (2017), 'What is morphological computation? On how the body contributes to cognition and control', Artificial Life 23 (1), 1-24. [Artificial Life][pdf]

Hoffmann, M. & Simanek, J. (2017), 'The merits of passive compliant joints in legged locomotion: fast learning, superior energy efficiency, and versatile sensing in a quadruped robot', Journal of Bionic Engineering14(1), 1-14. [science direct][postprint-pdf][youtube-video]

Roncone, A.; Hoffmann, M.; Pattacini, U.; Fadiga, L. & Metta, G. (2016), 'Peripersonal space and margin of safety around the body: learning tactile-visual associations in a humanoid robot with artificial skin', PLoS ONE 11(10), e0163713. [OPEN ACCESS - doi link]

Hoffmann, M.; Stepanova, K. & Reinstein, M. (2014), 'The effect of motor action and different sensory modalities on terrain classification in a quadruped robot running with multiple gaits', Robotics and Autonomous Systems 62, 1790-1798. [science direct][accepted author manuscript]

Reinstein, M. & Hoffmann, M. (2013), 'Dead reckoning in a dynamic quadruped robot based on multimodal proprioceptive information', Robotics, IEEE Transactions on 29 (2), 563-571. [final - IEEE Xplore] [postprint]

Schmidt, N.; Hoffmann, M.; Nakajima, K. & Pfeifer, R. (2013), 'Bootstrapping perception using information theory: Case studies in a quadruped robot running on different grounds', Advances in Complex Systems J. 16 (2-3). [ACS link] [postprint]

Hoffmann, M.; Marques, H.; Hernandez Arieta, A.; Sumioka, H.; Lungarella, M. & Pfeifer, R. (2010), 'Body schema in robotics: a review', IEEE Trans. Auton. Mental Develop. 2 (4), 304-324. [final - IEEE Xplore] [postprint]

Hoffmann, M. & Pfeifer, R. (2009), 'Let animats live!', Adaptive behavior 17 (4), 317-319. [SAGE pub link]

Books edited

Hoffmann, M., Pitti, A., Jamone, L., Somogyi, E., Lanillos, P., eds. (2020). Body Representations, Peripersonal Space, and the Self: Humans, Animals, Robots. Lausanne: Frontiers Media SA. [Link - Frontiers Research Topic and e-book download]

Vavrečka, M.; Bečev, O.; Hoffmann, M. & Štěpánová, K., ed., (2016), Kognice a umělý život XVI [Cognition and Artificial Life XVI]. 

Book chapters

Hoffmann, M. & Longo, M. R. (2022), Body models in humans and robots, in Adrian Alsmith & Matthew R. Longo, ed., 'The Routledge Handbook of Bodily Awareness', Routledge, pp. 185-197. [arxiv-pdf][publisher page]

Hoffmann, M. (2022), Biologically inspired robot body models and self-calibration, in Marcelo Ang; Oussama Khatib & Bruno Siciliano, ed., 'Encyclopedia of Robotics', Springer. [Springer][pdf - please find it as Appendix C, from pg. 80 in my habilitation thesis  or send me an email]

Hoffmann, M. (2021), Body models in humans, animals, and robots: mechanisms and plasticity, in Yochai Ataria; Shogo Tanaka & ​​​Shaun Gallagher, ed., 'Body Schema and Body Image: New Directions', Oxford University Press, pp. 152-180. [pdf-arxiv][Oxford Uni Press]

Hoffmann, M. & Pfeifer, R. (2018), Robots as powerful allies for the study of embodied cognition from the bottom up, in A. Newen, L. de Bruin;  & S. Gallagher, ed., 'The Oxford Handbook 4e Cognition', Oxford University Press, pp. 841-861. [pdf][Oxford Uni Press]

Hoffmann, M. & Müller, V. C. (2017), Simple or complex bodies? Trade-offs in exploiting body morphology for control, in G. Dodig-Crnkovic & R. Giovagnoli, ed., 'Representation and Reality in Humans, Other Living Organisms and Intelligent Machines', Springer, pp. 335-345. [final - Springer][preprint-pdf]

Dominey, P.; Prescott, T.; Bohg, J.; Engel, A.; Gallagher, S.; Heed, T.; Hoffmann, M.; Knoblich, G.; Prinz, W. & Schwartz, A. (2016), Implications of action-oriented paradigm shifts in cognitive science, in A.K. Engel; K.J. Friston & D. Kragic, ed., 'Where's the action? The pragmatic turn in cognitive science', MIT Press, pp. 333-356. [pdf] [http://www.esforum.de] [https://mitpress.mit.edu/books/pragmatic-turn] 

Hoffmann, M. (2014), Minimally Cognitive Robotics: Body Schema, Forward Models, and Sensorimotor Contingencies in a Quadruped Machine, in A. Martin & M. Bishop, ed., 'Contemporary Sensorimotor Theory', SAPERE series, Springer, pp. 209-233. [Springer][preprint]

Hoffmann, M. & Müller, V. C. (2014), Trade-Offs in Exploiting Body Morphology for Control: from Simple Bodies and Model-Based Control to Complex Bodies with Model-Free Distributed Control Schemes, in H. Hauser; R. M. Füchslin & R. Pfeifer, ed., 'E-book on Opinions and Outlooks on Morphological Computation', pp. 185--194. [arxiv-pdf][Please refer to Hoffmann & Müller 2017 for a revised version - preprint-pdf]

Hoffmann, M. & Pfeifer, R. (2011), The implications of embodiment for behavior and cognition: animal and robotic case studies, in W. Tschacher & C. Bergomi, ed., 'The Implications of Embodiment: Cognition and Communication', Exeter: Imprint Academic, pp. 31-58. [pdf]

Brom, C., Šisler, V., Hoffmann, M. (2007), Virtuální lidé, in V. Mařík, O. Štěpánková, J. Lažanský, ed., 'Umělá inteligence 5', Academia, Prague, pp. 113-141. [in Czech]

Peer-reviewed international conference proceedings (selected)

Rustler, L.; Misar, M. & Hoffmann, M. (2024), Adaptive Electronic Skin Sensitivity for Safe Human-Robot Interaction, in 'IEEE-RAS International Conference on Humanoid Robots (Humanoids)', IEEE. [pdf-arxiv][youtube-video][code][data] 

Kruzliak, A.; Hartvich, J.; Patni, S. P.; Rustler, L.; Behrens, J. K.; Abu-Dakka, F. J.; Mikolajczyk, K.; Kyrki, V. & Hoffmann, M. (2024). Interactive Learning of Physical Object Properties Through Robot Manipulation and Database of Object Measurements, in 'Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on', pp. 7596-7603.  [DOI-IEEE Xplore][pdf-arxiv] [youtube-video][code][data - object database]

Shahriari, E.; Peper, K. K.; Hoffmann, M. & Haddadin, S. (2024), Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach, in '2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)', pp. 1329-1336. [DOI-IEEE Xplore][pdf-arxiv]

Bielawski, K.; Rozlivek, J.; Hoffmann, M. & Bongard, J. (2024), Best Practices for Differentiable Soft Robot Modeling and Optimization with the Material Point Method, in 'Artificial Life Conference Proceedings 36', pp. 11. [DOI-MIT Press - Open Access]

Rustler, L.; Matas, J. & Hoffmann, M. (2023), Efficient Visuo-Haptic Object Shape Completion for Robot Manipulation, in 'Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on', pp. 3121-3128.  [DOI-IEEE Xplore][pdf-arxiv][youtube-video]

Rozlivek, J.; Svarny, P. & Hoffmann, M. (2023), Perirobot space representation for HRI: measuring and designing collaborative workspace coverage by diverse sensors, in 'Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on', pp. 5958-5965. [DOI-IEEE Xplore] [pdf-arxiv]

Lehmann, H., Rojik, A., Friebe, K., Hoffmann, M. (2022), Hey, Robot! An Investigation of Getting Robot’s Attention Through Touch, in: 'International Conference on Social Robotics (ICSR)'. Lecture Notes in Computer Science, vol 13817.  Springer, Cham, pp. 388-401. [DOI-Springer][pdf-arxiv][youtube-video]

Friebe, K.; Samporova, S.; Malinovska, K. & Hoffmann, M. (2022), Gaze Cueing and the Role of Presence in Human-Robot Interaction, in 'International Conference on Social Robotics (ICSR)'.  Lecture Notes in Computer Science, vol 13817.  Springer, Cham, pp. 402-414. [DOI-Springer][pdf-arxiv][youtube-video]

Docekal, J.; Rozlivek, J.; Matas, J. & Hoffmann, M. (2022), Human keypoint detection for close proximity human-robot interaction, in 'IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022)', pp. 450-457. [IEEE Xplore][pdf-arxiv][youtube-video]

Svarny, P.; Hamad, M.; Kurdas, A.; Hoffmann, M.; Abdolshah, S. & Haddadin, S. (2022), Functional Mode Switching for Safe and Efficient Human-Robot Interaction, in 'IEEE-RAS International Conference on Humanoid Robots (Humanoids 2022)', pp. 888-894. [IEEE Xplore]

Dimiccoli, M., Patni, S., Hoffmann, M. and Moreno-Noguer, F. (2022), Recognizing object surface material from impact sounds for robot manipulation, in 'Intelligent Robots and Systems (IROS), IEEE/RSJ International Conference on'.  [IEEE Xplore][youtube-video]

Marcel, V.; O'Regan, Kevin, J. & Hoffmann, M. (2022), Learning to reach to own body from spontaneous self-touch using a generative model, in 'IEEE International Conference on Development and Learning (ICDL)', pp. 328-335.  [IEEE Xplore][pdf@researchgate][youtube-video]

Khoury, J., Popescu, S. T., Gama, F., Marcel, V. and Hoffmann, M. (2022), Self-touch and other spontaneous behavior patterns in early infancy, in 'IEEE International Conference on Development and Learning (ICDL)', pp. 148-155. [IEEE Xplore][pdf@researchgate][youtube-video]

Malinovska, K.; Farkas, I.; Harvanova, J. & Hoffmann, M. (2022), A connectionist model of associating proprioceptive and tactile modalities in a humanoid robot, in 'IEEE International Conference on Development and Learning (ICDL)', pp. 336-342. [IEEE Xplore]

Rustler, L.; Potocna, B.; Polic, M.; Stepanova, K. & Hoffmann, M. (2021), Spatial calibration of whole-body artificial skin on a humanoid robot: comparing self-contact, 3D reconstruction, and CAD-based calibration, in 'Humanoid Robots (Humanoids), IEEE-RAS International Conference on', pp. 445-452. [IEEE Xplore][preprint-pdf][youtube-video] 

Rozlivek, J.; Rustler, L.; Stepanova, K. & Hoffmann, M. (2021), Multisensorial robot calibration framework and toolbox, in 'Humanoid Robots (Humanoids), IEEE-RAS International Conference on', pp. 459-466. [IEEE Xplore][preprint-pdf][youtube-video][github] 

Svarny, P.; Rozlivek, J.; Rustler, L. & Hoffmann, M. (2021), 3D Collision-Force-Map for Safe Human-Robot Collaboration, in 'IEEE International Conference on Robotics and Automation (ICRA)', pp. 3829-3835. [IEEE Xplore][pdf-arxiv][youtube-video]

Behrens, J. K.; Nazarczuk, M.; Stepanova, K.; Hoffmann, M.; Demiris, Y. & Mikolajczyk, K. (2021), Embodied Reasoning for Discovering Object Properties via Manipulation, in 'IEEE International Conference on Robotics and Automation (ICRA)', pp. 10139-10145.  [IEEE Xplore][pdf-submitted][publication-webpage][video]

Gama, F.; Shcherban, M.; Rolf, M. & Hoffmann, M. (2020), Active exploration for body model learning through self-touch on a humanoid robot with artificial skin, in 'Joint IEEE 10th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)'. [IEEE Xplore][arxiv][slides with voice][youtube-video]

Ueno, A.; Hlavac, V.; Mizuuchi, I. & Hoffmann, M. (2020), Touching a Human or a Robot? Investigating Human-Likeness of a Soft Warm Artificial Hand, in '29th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)'.  [IEEE Xplore][pdf] 

Zardykhan, D.; Svarny, P.; Hoffmann, M.; Shahriari, E. & Haddadin, S. (2019), Collision Preventing Phase-Progress Control for Velocity Adaptation in Human-Robot Collaboration, in 'Humanoid Robots (Humanoids), 2019 IEEE-RAS 18th International Conference on', IEEE, pp. 282-289.[IEEE Xplore][youtube video]

Svarny, P.; Tesar, M.; Behrens, J. K. & Hoffmann, M. (2019), Safe physical HRI: Toward a unified treatment of speed and separation monitoring together with power and force limiting, in 'Intelligent Robots and Systems (IROS), 2019 IEEE/RSJ International Conference on', IEEE, pp. 7574-7581. [IEEE Xplore][arxiv][youtube video]

Nguyen, P. D.; Hoffmann, M.; Pattacini, U. & Metta, G. (2019), Reaching development through visuo-proprioceptive-tactile integration on a humanoid robot – a deep learning approach, in 'Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)', pp. 163-170. [IEEE Xplore][preprint][youtube video]

Nguyen, P. D.; Bottarel, F.; Pattacini, U.; Hoffmann, M.; Natale, L. & Metta, G. (2018), Merging physical and social interaction for effective human-robot collaboration, in 'Humanoid Robots (Humanoids), 2018 IEEE-RAS 18th International Conference on', IEEE, pp. 770-717. [IEEE Xplore][preprint-researchgate][youtube video]

Nguyen, P. D.; Hoffmann, M.; Roncone, A.; Pattacini, U. & Metta, G. (2018), Compact real-time avoidance on a humanoid robot for human-robot interaction, in 'HRI ’18: 2018 ACM/IEEE International Conference on Human-Robot Interaction', ACM, New York, NY, USA, pp. 416-424.[ACM digital library][arxiv][youtube video]

Hoffmann, M.; Chinn, L. K.; Somogyi, E.; Heed, T.; Fagard, J.; Lockman, J. J. & O'Regan, J. K. (2017), Development of reaching to the body in early infancy: From experiments to robotic models, in 'Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)', pp. 112-119. [IEEE Xplore][postprint]

Straka, Z. & Hoffmann, M. (2017), Learning a Peripersonal Space Representation as a Visuo-Tactile Prediction Task, in Alessandra Lintas; Stefano Rovetta; Paul F.M.J. Verschure & Alessandro E.P. Villa, ed., 'Artificial Neural Networks and Machine Learning – ICANN 2017: 26th International Conference on Artificial Neural Networks, Alghero, Italy, September 11-14, 2017, Proceedings, Part I', Springer International Publishing, Cham, pp. 101--109.[Springer][postprint] [ENNS Best Paper Award]

Nguyen, P. D.; Hoffmann, M.; Pattacini, U. & Metta, G. (2016), A fast heuristic Cartesian space motion planning algorithm for many-DoF robotic manipulators in dynamic environments, in 'Humanoid Robots (Humanoids), 2016 IEEE-RAS 16th International Conference on', IEEE, pp. 884-891. [IEEE Xplore][postprint]

Roncone, A.; Hoffmann, M.; Pattacini, U. & Metta, G. (2015), Learning peripersonal space representation through artificial skin for avoidance and reaching with whole body surface, in 'Intelligent Robots and Systems (IROS), 2015 IEEE/RSJ International Conference on', pp. 3366-3373. [IEEE Xplore] [postprint][youtube video]

Roncone, A.; Hoffmann, M.; Pattacini, U. & Metta, G. (2014), Automatic kinematic chain calibration using artificial skin: self-touch in the iCub humanoid robot, in 'Robotics and Automation (ICRA), 2014 IEEE International Conference on', pp. 2305-2312. [IEEE Xplore] [postprint]                    [youtube video]

Hoffmann, M.; Schmidt, N.; Pfeifer, R.; Engel, A. & Maye, A. (2012), Using sensorimotor contingencies for terrain discrimination and adaptive walking behavior in the quadruped robot Puppy, in T. Ziemke; C. Balkenius & J. Hallam, ed., 'From animals to animats 12: Proc. Int. Conf. Simulation of Adaptive Behaviour (SAB)', Springer, pp. 54-64. [Springer][postprint]

Hoffmann, M.; Schmidt, N.; Nakajima, K.; Iida, F. & Pfeifer, R. (2011), Perception, motor learning, and speed adaptation exploiting body dynamics: case studies in a quadruped robot, in 'Proc. Int. Symposium on Adaptive Motion in Animals and Machines (AMAM)'.[pdf]

Reinstein, M. & Hoffmann, M. (2011), Dead reckoning in a dynamic quadruped robot: Inertial navigation system aided by a legged odometer, in 'Robotics and Automation (ICRA), 2011 IEEE International Conference on', pp. 617-624. [IEEE Xplore] [postprint]

Vu, H. Q.; Ramstein, G.; Casanova, F.; Aryananda, L.; Hoffmann, M.; Sheikh, F. I. & Hauser, H. (2011), Gait Versatility Through Morphological Changes in a New Quadruped Robot, Int. Symposium on Adaptive Motion in Animals and Machines (AMAM), Hyogo, Japan. [pdf]

Ziegler, M.; Hoffmann, M.; Carbajal, J. P. & Pfeifer, R. (2011), Varying body stiffness for aquatic locomotion, in 'Robotics and Automation (ICRA), 2011 IEEE International Conference on', pp. 2705 -2712. [IEEE Xplore] [postprint]

Theses

Hoffmann, M. (2021), 'Learning body models: from humans to humanoids', Habilitation thesis, Faculty of Electrical Engineering, Czech Technical University in Prague. [thesis page][pdf]

Hoffmann, M. (2012), 'From locomotion to cognition', PhD thesis, University of Zurich. [pdf]

Hoffmann, M. (2006), 'Structural coupling with environment and its modelling on neural driven agents', MSc. thesis, Faculty of Mathematics and Physics, Charles University in Prague. [pdf]

Tutorials

Tutorial on embodiment hosted on the EU COG website. 

Hoffmann, M.; Assaf, D. & Pfeifer, R.: Tutorial on Embodiment, 2012.

Other conferences, workshops, abstracts (selected)

Hoffmann, M. (2022), Body schema or the body as its own best model, in G. Šejnová and M. Vavrečka and J. Hvorecký, ed., 'Kognice a umělý život XX (Cognition and Artificial Life XX)', CTU in Prague,  pp. 45-51. [pdf-arxiv]

Lehmann, H.; Rojik, A. & Hoffmann, M. (2020), Should a small robot have a small personal space? Investigating personal spatial zones and proxemic behavior in human-robot interaction, in 'CognitIve RobotiCs for intEraction (CIRCE) Workshop at IEEE International Conference On Robot and Human Interactive Communication (RO-MAN)'. [pdf-arxiv][pdf@workshop-site][slides with voice] [youtube video]

Gama, F. & Hoffmann, M. (2019), The homunculus for proprioception: Toward learning the representation of a humanoid robot’s joint space using self-organizing maps, in 'Joint IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob)', pp. 113-114. [pdf-arxiv]

Straka, Z. & Hoffmann, M. (2019), Learning a peripersonal space representation using Conditional Restricted Boltzmann Machine, in I. Farkaš; M. Takáč; P. Gergel & M. Tomko, ed., 'Kognice a umělý život XIX [Cognition and Artificial Life XIX]', Comenius University Bratislava, pp. 104-105. [pdf]

Svarny, P.; Straka, Z. & Hoffmann, M. (2018), Toward safe separation distance monitoring from RGB-D sensors in human-robot interaction, in 'International PhD Conference on Safe and Social Robotics (SSR-2018)', pp. 11-14. [pdf-arxiv] [Proceedings]

Švarný, P. & Hoffmann, M. (2018), Safety of human-robot interaction through tactile sensors and peripersonal space representations, in Č. Šašinka; A. Strnadová; Z. Šmideková & V. Juřík, ed., 'Kognice a umělý život XVIII [Cognition and Artificial Life XVIII]', Flow, z.s., pp. 73-75. [pdf]

Hoffmann, M. (2017), The role of self-touch experience in the formation of the self, in 'The Development of the Self Workshop at IEEE ICDL-EpiRob 2017'. [pdf]

Stepanova, K.; Hoffmann, M.; Straka, Z.; Klein, F. B.; Cangelosi, A. & Vavrecka, M. (2017), Where is my forearm? Clustering of body parts from simultaneous tactile and linguistic input using sequential mapping, in I. Farkas; M. Takac; J. Rybar & P. Gergel, ed., 'Kognice a umělý život XVII [Cognition and Artificial Life XVII]', Comenius University Bratislava, pp. 155-162. [pdf]

Hoffmann, M. & Bednarova, N. (2016), The encoding of proprioceptive inputs in the brain: knowns and unknowns from a robotic perspective, in M. Vavrecka; O. Becev; M. Hoffmann & K. Stepanova, ed., 'Kognice a umělý život XVI [Cognition and Artificial Life XVI]', pp. 55-66. [pdf-arxiv]

Hoffmann, M. (2015), Modeling the mechanisms of body representations using machines: exploring the “self-touch” scenario in the iCub humanoid robot with artificial skin, International Multisensory Research Forum, Pisa, Italy.

 Hoffmann, M.; Roncone, A. & Metta, G. (2014), Modeling the development of body knowledge using humanoid robots, International Conference on Infant Studies, Berlin, Germany, 2014. 

Hoffmann, M.; Roncone, A. & Metta, G. (2013), Modeling the development of human body representations, in L. Damiano & V.C. Muller, ed., 'Synthetic Modeling of Life and Cognition: Open Questions'. (extended abstract) [pdf]

Hoffmann M. (2010), Body representation: a robotic perspective. Conference Abstract: Body Representation in Physical and Virtual Reality with Applications to Rehabilitation, Monte Veritá, Switzerland, 2010.

Pfeifer, R. and Hoffmann M. (2010),  Embodiment, morphological computation, and robot body schemas. Conference Abstract: Body Representation in Physical and Virtual Reality with Applications to Rehabilitation, Monte Veritá, Switzerland, 2010.

Hoffmann, M. (2007): Embodiment, structural coupling and morphological computation: let us not stop halfway in: Int. Conf. on Morphological Computation, Venice, Italy, 2007. [pdf]

Hoffmann, M., & Brom, C. (2005), Agents vs. Rossum’s Robots: Towards Intelligent Living Machines, in: Interdisciplinary Aspects of Human-Machine Co-existence and Co-operation, Proc. 1st Czech - Argentine Biennale Workshop "e - Golems", Prague, Czech Republic, pp. 87-96. [pdf]

In Czech:

Hoffmann, M. (2015), Modelování mechanismů reprezentace těla u humanoidního robota iCub: od biologické inspirace k adaptivním a bezpečným strojům (“Modeling the mechanisms of body representations in the iCub humanoid robot: from biological inspiration to adaptive and safe machines”), in 'Kognice a umělý život XV' (Proc. 15th Czech-Slovak colloquium Cognition and Artificial Life), Trenčianské Teplice, Slovak Republic, pp. 57-60. (in Czech) [pdf]

Hoffmann, M. (2014), Od lokomoce ke kognici: o vývoji čtyřnohého robota od reaktivních k prvním kognitivním schopnostem, in 'Kognice a umělý život XIV' (Proc. 14th Czech-Slovak colloquium Cognition and Artificial Life). (in Czech) [pdf]

Hoffmann, M. (2011), Interní reprezentace těla v biologii, robotice a teorii řízení: funkce a mechanizmy, in Proc. 11th Czech-Slovak colloquium Cognition and Artificial Life - Kognice a umělý život XI, Smolenice, Slovakia; J. Kelemen; V. Kvasnička & J. Pospíchal, ed., pp. 77-86. (in Czech) [pdf]

Hoffmann, M.: Vyzkum animatu: zabavne, snad produktivni, ale metodologicky obtizne. ("Animat research: amusing, perhaps productive, but methodologically difficult") in: Proc. 10th Czech-Slovak colloquium Cognition and Artificial Life, Ostravice, Czech Republic, 2010, pp. 133-140. (in Czech) [pdf]

Oses, N.; Hoffmann, M. & Koene, R. A. (2010), Embodied Moving-Target Seeking with Prediction and Planning, in E. Corchado; M.G. Romay & A.M. Savio, ed., 'Proceeding Hybrid Artificial Intelligence Systems (HAIS), San Sebastian, Spain, Part II', Springer, pp. 478-485. [Springer link] [postprint]

Hoffmann, M.: (Kdy) potrebuje robot reprezentovat svet? ("(When) Does a robot need to represent the world?") in: Proc. 8th Czech-Slovak colloquium Cognition and Artificial Life, Prague, Czech Republic, 2008, pp. 133-138. (in Czech) [pdf]

Hoffmann, Matej, Pohled na agenty řízené neuronovými sítemi skrze teorii dynamických systémů ("Evolution and Learning of Neural Driven Agents – A Dynamical Systems Perspective"), in: Proc. 6th Czech-Slovak colloquium Cognition and Artificial Life , Trest, Czech Republic, 2006, pp. 181-188. (in Czech) [pdf]

Popular science (in Czech)

Hoffmann, M. (2020), 100 let poté: Rossumovi roboti nás stále učí, jak stvořit stroje s vědomím, in Jitka Čejková, ed., 'Robot 100: Sto rozumů', VŠCHT Praha, pp. 365-367.  [pdf]

Hoffmann, Matej, Chytří jako hmyz, Respekt 43 (2007), Respekt Publishing a.s., Prague, pp. 56-58. 

Hoffmann, M. (2006), Patří Čapkovi roboti do říše sci-fi? Vesmír 85, 264-267.

Interviews

Matej Hoffmann and Petr Svarny in a Podcast on collaborative and humanoid robots [in Czech] - May 2020.

Interview with Matej Hoffmann in "Control Engineering Czech Republic" [in Czech] - January 2020.

Interviews about my research in Pravda newspaper and Dennik N [both in Slovak] - May/June 2016.