A. Almeida, P. Vicente, A. Bernardino, "Where is my hand? Deep hand segmentation for visual self-recognition in humanoid robots", Robotics and Autonomous Systems, Volume 145, 2021, 103857, ISSN 0921-8890, https://doi.org/10.1016/j.robot.2021.103857 

M. Carvalho, J. Avelino, A. Bernardino, R. Ventura and P. Moreno, "Human-Robot greeting: tracking human greeting mental states and acting accordingly," 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021, pp. 1935-1941, https://doi.org/10.1109/IROS51168.2021.9635894 

A. R. C. Pagaimo and P. Moreno, "Exploring tactile sensing to perform the power grasp of a human-robot handshake," 2023 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC), Tomar, Portugal, Abril 2023, pp. 56-62,  https://doi.org/10.1109/ICARSC58346.2023.10129544  

M. H. Lee, D. P. Siewiorek, A. Smailagic, A. Bernardino, S. Bermúdez i Badia. "Enabling AI and Robotic Coaches for Physical Rehabilitation Therapy: Iterative Design and Evaluation with Therapists and Post-Stroke Survivors", International Journal of Social Robotics, 2022, pp 1-22, https://doi.org/10.1007/s12369-022-00883-0 

Hun Lee, M., Siewiorek, D.P., Smailagic, A. et al. "Design, development, and evaluation of an interactive personalized social robot to monitor and coach post-stroke rehabilitation exercises". User Model User-Adap Inter 33, 545–569 (March 2023). https://doi.org/10.1007/s11257-022-09348-5 

M. Lee, A. Bernardino, D. Siewiorek , “Designing an Intelligent System to Monitor & Explain Abnormal Patterns of Older Adults”, ASSETS, October, 2023. https://doi.org/10.1145/3597638.3614501    

A. R. Cóias, M. H. Lee, A. Bernardino, A. Smailagic, “Skeleton Tracking Solutions for a Low-cost Stroke Rehabilitation Support System”, ICORR, September, 2023 https://doi.org/10.1109/ICORR58425.2023.10304749 

G. Mesquita, A. Rita Cóias, A. Dubrawski, A. Bernardino, “Frame-level real-time assessment of stroke rehabilitation exercises from video-level labeled data: Task-specific vs. Foundation Models”, International Conference of the IEEE Engineering in Medicine and Biology Society 2025 (accepted) https://web.tecnico.ulisboa.pt/ist13761/shared/havatar/GM_EMBC_25.pdf

N. M. Caldeira Miguéns Diogo and P. Moreno, "Active Health Data Collection Using Social Robot", 2024 7th Iberian Robotics Conference (ROBOT), Madrid, Spain, 2024, pp. 1-6. https://doi.org/10.1109/ROBOT61475.2024.10796933 

Marques, J., Faria, F., Machado, R., Cardoso, H., Bernardino, A., Moreno, P.. "Active Collection of Well-Being and Health Data in Mobile Devices". In: Fred, A., Sansone, C., Gusikhin, O., Madani, K. (eds) Deep Learning Theory and Applications. DeLTA 2022. Communications in Computer and Information Science, vol 1858. Springer, Cham. https://doi.org/10.1007/978-3-031-37317-6_2 

R. Machado, H. Cardoso, A. Bernardino, P. Moreno (2022), “Active Data Collection of Health Data in Mobile Devices”. International Conference on Deep Learning Theory and Applications (DeLTA 2022), pp 160-167. https://doi.org/10.5220/0011300700003277 

A. Dias, L. Simões, P. Moreno and A. Bernardino, "Active Gaze Control for Foveal Scene Exploration," 2022 IEEE International Conference on Development and Learning (ICDL), London, United Kingdom, September 2022, pp. 115-120, https://doi.org/10.1109/ICDL53763.2022.9962223 

L. Simoes, A. Bernardino,  “Active Perception: Scene Exploration using Foveal Vision”,  EgoVIP Workshop at IROS 2021, September 2021, https://drive.google.com/file/d/1ZURVfENBvbKr-N9kCBOZu25BlCnMCndj/view?usp=sharing   

J. Luzio, A. Bernardino, and P. Moreno López,  "Semba-Fast: Semantic-Based Bayesian Attention Applied to Foveal Active Visual Search Tasks", 2025. Preprint Available at SSRN: https://ssrn.com/abstract=5143184 or http://dx.doi.org/10.2139/ssrn.5143184 

F. Melo and P. Moreno, "Socially Reactive Navigation Models for Mobile Robots," ICARSC 2022. https://doi.org/10.1109/ICARSC55462.2022.9784789 

Carlos A. Silva, Sedat Dogru and Lino Marques, “Mobile Robot Navigation in Dynamic Environments Taking into Account Obstacle Motion in Costmap Construction”. ROBOT 2022. https://doi.org/10.1007/978-3-031-21065-5_20 

Carlos A. Silva, Sedat Dogru and Lino Marques, “Improving Energy Performance of Camera Lidar Fusion by Intermittent Human Detection for Social Navigation”, ROBOT 2023: Sixth Iberian Robotics Conference. https://doi.org/10.1007/978-3-031-58676-7_10  

R. Ribeiro, P. Moreno, “Socially reactive navigation models for mobile robots in dynamic environments”, ROBOT 2023.  https://doi.org/10.1007/978-3-031-58676-7_18   

H.J. Araujo, P. Miraldo, N. Crombez, “Localization and Navigation with Omnidirectional Images”, in “Omnidirectional Vision: From Theory to Applications”, P. Vasseur, F. Morbidi (Eds.), Wiley-ISTE, 2023, ISBN: 978-1-394-25643-3. 

B. Rocha, P. Moreno, A. Bernardino, “Cross-View Generalization in Action Recognition: Feature Design for Transitioning from Exocentric to Egocentric Views”, ROBOT 2023, October, https://doi.org/10.1007/978-3-031-58676-7_13   

C. Cardoso and A. Bernardino, "Exploiting a Statistical Body Model for Handover Interaction Primitives," 2022 IEEE International Conference on Development and Learning (ICDL), London, United Kingdom, September 2022, pp. 314-319, https://doi.org/10.1109/ICDL53763.2022.9962217 

C. Cardoso, A. Bernardino. "Bayesian Interaction Primitives for Robot to Human Handover with Giver-Egocentric Observations". EgoVIP Workshop at IROS 2021, September 2021. https://drive.google.com/file/d/1ZURVfENBvbKr-N9kCBOZu25BlCnMCndj/view?usp=sharing 

T. Salazar, M. S. Santos, H. Araujo, P. H. Abreu, “FAWOS: Fairness-Aware Oversampling Algorithm Based on Distributions of Sensitive Attributes”, IEEE Access, vol. 9, pp. 81370-81379, 2021, https://doi.org/10.1109/ACCESS.2021.3084121  

T. Salazar, M. Fernandes, H. Araujo, P. Abreu, “FAIR-FATE: Fair Federated Learning with Momentum”, Computational Science – ICCS 2023, 23rd International Conference, Prague, Czech Republic, July 3–5, 2023, https://doi.org/10.1007/978-3-031-35995-8_37 

O. Ferraz, H. Araujo, V. Silva, G. Falcao, “Benchmarking Convolutional Neural Network Inference on Low-Power Edge Devices”, ICASSP 2023 - 2023 IEEE International Conference on Acoustics, Speech and Signal Processing (ICASSP), Rhodes Island, Greece, 2023, https://doi.org/10.1109/ICASSP49357.2023.10095003 

R. Magalhães, A. Bernardino (2023), “Quantifying Object Detection Uncertainty in Autonomous Driving with Test-Time Augmentation”, IEEE Intelligent Vehicles Symposium (IEEE IV 2023), June 2023, pp 1-7. https://doi.org/10.1109/IV55152.2023.10186713 

M. F. Jaramillo-Morales, Sedat Dogru, Lino Marques, “Energy Optimal Speed Profiles for a Differential Drive Mobile Robot with Payload”, Journal of Optimization Theory and Applications, Springer, 204, 17, 2025. https://doi.org/10.1007/s10957-024-02590-4  

M. Monteiro, A. Bernardino, H. S. Pinto, “BYTECounter: Improving Vehicle Turning-Movement Counting”, International Conference on Intelligent Transportation Systems (ITSC 2023), pp 3456-3462.  https://doi.org/10.1109/ITSC57777.2023.10421880

G. Erabati, H. Araujo, “DeLiVoTr: Deep and light-weight voxel transformer for 3D object detection”, Intelligent Systems with Applications, Vol. 22, 2024, 200361, https://doi.org/10.1016/j.iswa.2024.200361 

G. Erabati, H. Araujo, "RetFormer: Embracing Point Cloud Transformer With Retentive Network," in IEEE Transactions on Intelligent Vehicles, 2024, https://doi.org/10.1109/TIV.2024.3417260  

G. Erabati, H. Araujo, “DDet3D: embracing 3D object detector with diffusion”, Appl. Intell. 55, 283, 2025, https://doi.org/10.1007/s10489-024-06045-1 

G. Erabati, H. Araujo, “Li3DeTr: A LiDAR Based 3D Detection Transformer”, Proc. 2023 IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2-7 Jan. 2023 https://doi.org/10.1109/WACV56688.2023.00423.

G. Erabati, H. Araujo, “DAFDeTr: Deformable Attention Fusion Based 3D Detection Transformer”, Proc. ROBOVIS2024-Robotics, Computer Vision and Intelligent Systems, Communications in Computer and Information Science, vol 2077, 2024. https://doi.org/10.1007/978-3-031-59057-3_19

Martins P, Silva JS, Bernardino A. Multispectral Facial Recognition in the Wild. Sensors. June 2022; 22(11):4219. https://doi.org/10.3390/s22114219 

A. Prakash, S. Thejaswin, A. Nambiar, A. Bernardino (2023), “Adapt-FuseNet: Context-aware Multimodal Adaptive Fusion of Face and Gait Features using Attention Techniques for Human Identification”, IEEE IJCB 2023 https://doi.org/10.1109/IJCB57857.2023.10448765

A. Prakash, S. Thejaswin, A. Nambiar, A. Bernardino, “Exploring Fusion Techniques and Explainable AI on Adapt-FuseNet: Context-adaptive Fusion of Face and Gait for Person Identification”, IEEE Transactions on Biometrics, Behavior, and Identity Science, 6(4):515-527, October 2024. https://doi.org/10.1109/TBIOM.2024.3405081  

F. Loureiro, J. Avelino, P. Moreno, A. Bernardino. Detecting Human-Robot Interaction Failures Through Egocentric Visual Head-Face Analysis. EgoVIP Workshop at IROS 2021, September 2021.  https://drive.google.com/file/d/1ZURVfENBvbKr-N9kCBOZu25BlCnMCndj/view?usp=sharing   

Loureiro, F., Avelino, J., Moreno, P., Bernardino, A. (2022). Self-perception of Interaction Errors Through Human Non-verbal Feedback and Robot Context. In: Cavallo, F., et al. Social Robotics. ICSR February 2022. Lecture Notes in Computer Science, vol 13818. Springer, Cham. https://doi.org/10.1007/978-3-031-24670-8_42 

N. Greggio, A. Bernardino, “Unsupervised incremental estimation of Gaussian mixture models with 1D split moves”, Pattern Recognition, 150, 110306, June 2024.  https://doi.org/10.1016/j.patcog.2024.110306   

N. Greggio, R. Bastianello and A. Bernardino, "Efficient Greedy Unsupervised Learning of Multivariate Mixture Models with Moment-Based Splitting," SIMPAR, Palermo, Italy, 2025, pp. 1-9, https://doi.org/10.1109/SIMPAR62925.2025.10979141 

N. Greggio, A. Bernardino, “Principal Direction 2-Gaussian Fit”, ICPRAM, 1:209-317, 2025, Porto, Portugal, https://doi.org/10.5220/0013250400003905 

A. E. Gonçalves, P. Moreno, J. Forlizzi, L. Garcia Marques, A. Bernardino, “Non-Verbal Cues on Robot-Group Persuasion”, IEEE International Conference on Robotics and Automation (ICRA 2024), 1000-1006. http://doi.org/10.1109/ICRA57147.2024.10611310 

J. Avelino, P. Moreno, F. Correia, L. Garcia-Marques, R. Ventura, A. Bernardino, “Evaluating Greeting Models for Human-Robot Engagement During First Encounters”, International Journal of Social Robotics, 17:297-314, January 2025. https://doi.org/10.1007/s12369-025-01213-w 

B. Nogueira, H. Simão, A. Bernardino, J. Forlizzi, T. Guerreiro (2025) “Putting the Age in Agency: A Case Study of an Older Adult Controlling a Telepresence Robot in a Family Setting”, ACM DIS Conference, PWiP, (accepted) https://doi.org/10.1109/WACV56688.2023.00423