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hermann blum boardgames home hi i m hermann a junior professor at the lamarr institute uni bonn previously i worked as a postdoc in the computer vision and geometry lab of eth zürich for my phd i was part of the autonomous systems lab at eth zürich my research focuses on embodied perception i strive to build models and methods to understand an agent s environment semantically and geometrically recently i am most interested in interactions with the environment for applications such as robotic manipulation video understanding and mixed reality here is my lab website github linkedin mastodon bluesky here are my recent works lime learning intent aware camera motion from egocentric video b sun j li y yang c zhang t engelbracht s hong c cadena m pollefeys h blum 2026 arxiv website openfrontier general navigation with visual language grounded frontiers e padilla cerdio b sun m pollefeys h blum rss 2026 arxiv website funfact building probabilistic functional 3d scene graphs via factor graph reasoning z fu r zurbrügg k qu m pollefeys m hutter h blum z bauer cvpr 2026 openaccess thecvf com arxiv website hoi a multimodal dataset for force grounded cross view articulated manipulation t engelbracht r zurbrügg m wohlrapp m büchner a valada m pollefeys h blum z bauer cvpr 2026 arxiv website artitwinsplat interactable digital twin reconstruction via gaussian splatting from rgb d videos p mishra r zurbrügg m wilder smith m hutter m pollefeys z bauer 2026 arxiv sni slam tightly coupled semantic neural implicit slam s zhu g wang h blum z wang g zhang d cremers m pollefeys h wang ieee transactions on pattern analysis and machine intelligence 2026 doi doi website osmag llm zero shot open vocabulary object navigation via semantic maps and large language models reasoning f xie s schwertfeger h blum ieee robotics and automation letters 2026 doi doi arxiv code loop closure from two views revisiting pgo for scalable trajectory estimation through monocular priors t yi lim b sun m pollefeys h blum ieee robotics and automation letters 2026 doi arxiv doi articulated 3d scene graphs for open world mobile manipulation m büchner a röfer t engelbracht t welschehold z bauer h blum 2026 arxiv open vocabulary and semantic aware reasoning for search and retrieval of objects in dynamic and concealed spaces r menon y schmiede m bennewitz h blum perception and planning for mobile manipulation in changing environments 2025 3d mood lifting 2d to 3d for monocular open set object detection y yang l piccinelli m segu s li r huang y fu m pollefeys h blum z bauer iccv 2025 arxiv website code actloc learning to localize on the move via active viewpoint selection b sun l di giammarino h blum m pollefeys corl 2025 arxiv website fungraph functionality aware 3d scene graphs for language prompted scene interaction d rotondi f scaparro h blum k o arras iros 2025 arxiv website spotlight robotic scene understanding through interaction and affordance detection t engelbracht r zurbrügg m pollefeys h blum z bauer humanoids 2025 arxiv website frontiernet learning visual cues to explore b sun h chen s leutenegger c cadena m pollefeys h blum ieee robotics and automation letters 2025 doi website arxiv code doi crocodl cross device collaborative dataset for localization h blum a mercurio j o reilly t engelbracht m dusmanu m pollefeys z bauer 2025 ieee cvf conference on computer vision and pattern recognition cvpr doi localizoo com arkit labelmaker a new scale for indoor 3d scene understanding g ji s weder f engelmann m pollefeys h blum cvpr 2025 arxiv labelmaker org code depthsplat connecting gaussian splatting and depth h xu s peng f wang h blum d barath a geiger m pollefeys cvpr 2025 arxiv website code spot on a mixed reality interface for multi robot cooperation t engelbracht p lukovic t behrens k lascheit r zurbrügg m pollefeys 2025 arxiv lost found tracking changes from egocentric observations in 3d dynamic scene graphs t behrens r zurbrügg m pollefeys z bauer h blum robotics and automation letters ra l 2025 arxiv website doi holospot intuitive object manipulation via mixed reality drag and drop p soler garcia p lukovic l reynaud a sgobbi f bruni m brun m zünd r bollati m pollefeys h blum z bauer 2024 arxiv website learning where to look self supervised viewpoint selection for active localization using geometrical information l di giammarino b sun g grisetti m pollefeys h blum d barath eccv 2024 doi arxiv code where am i scene retrieval with language j chen d barath i armeni m pollefeys h blum eccv 2024 doi arxiv website opendas open vocabulary domain adaptation for segmentation g yilmaz s peng m pollefeys f engelmann h blum 2024 arxiv website sni slam semantic neural implicit slam s zhu g wang h blum j liu l song m pollefeys h wang cvpr 2024 arxiv a 3d mixed reality interface for human robot teaming j chen b sun m pollefeys h blum icra 2024 arxiv code active visual localization for multi agent collaboration a data driven approach m hanlon b sun m pollefeys h blum icra 2024 arxiv best paper at icra 24 mobile manipulation workshop spot compose a framework for open vocabulary object retrieval and drawer manipulation in point clouds o lemke z bauer r zurbrügg m pollefeys f engelmann h blum icra 2024 arxiv website code best paper at icra 24 mobile manipulation workshop fully automatic labels on the quality level of scannet labelmaker automatic semantic label generation from rgb d trajectories s weder h blum f engelmann m pollefeys 3dv 2024 arxiv labelmaker org code fully automatic labels on the quality level of scannet unsupervised continual semantic adaptation through neural rendering z liu f milano j frey m hutter r siegwart h blum c cadena cvpr 2023 doi code website my phd thesis self improving open world robotic scene understanding h blum undefined eth zürich 2022 doi my phd thesis best paper runner up at the 2021 neurips robot learning workshop continual adaptation of semantic segmentation using complementary 2d 3d data representations j frey h blum f milano r siegwart c cadena ieee robotics and automation letters 2022 doi best paper runner up at the 2021 neurips robot learning workshop mm precise rgbd pointclouds sl sensor an open source real time and robot operating system based structured light sensor for high accuracy construction robotic applications automation in construction 2022 doi code arxiv mm precise rgbd pointclouds scim simultaneous clustering inference and mapping for open world semantic scene understanding h blum m g müller a gawel r siegwart c cadena isrr 2022 doi arxiv website code best paper at iros 2023 ws frontier vision learning techniques see yourself in others attending multiple tasks for own failure detection icra 2022 doi arxiv best paper at iros 2023 ws frontier vision learning techniques interactive oaisys a photorealistic terrain simulation for robotics research m g müller j lim l schmid h blum w stürzl undefined abel gawel r siegwart r triebel icra 2022 elib dlr de integrates our neurips workshop work into a fully autonomous press start and leave domain adaptation embodied active domain adaptation for semantic segmentation via informative path planning iros 2022 doi doi code integrates our neurips workshop work into a fully autonomous press start and leave domain adaptation global localization in meshes isarc 2021 doi precise robot localization in architectural 3d plans isarc 2021 doi pixel wise anomaly detection in complex driving scenes g di biase h blum r siegwart c cadena cvpr 2021 doi code our new concept for robots that learn on their own self improving semantic perception for indoor localisation conference on robot learning 2021 arxiv openreview net code proceedings mlr press our new concept for robots that learn on their own segmentmeifyoucan a benchmark for anomaly segmentation r chan k lis s uhlemeyer h blum s honari r siegwart p fua m salzmann m rottmann neurips 2021 dataset track arxiv segmentmeifyoucan com code accurate mapping and planning for autonomous racing l andresen a brandemuehl a hönger b kuan n vödisch h blum v reijgwart l bernreiter l schaupp j j chung m bürki m r oswald r siegwart a gawel iros 2020 doi online synchronization of building model for on site mobile robotic construction isarc 2020 doi first mayor work of our interdisciplinary construction robotics team a fully integrated sensing and control system for high accuracy mobile robotic building construction a gawel h blum j pankert k krämer l bartolomei s ercan f farshidian m chli f gramazio r siegwart m hutter t sandy iros 2019 arxiv doi first mayor work of our interdisciplinary construction robotics team active learning for uav based semantic mapping 2nd workshop on informative path planning and adaptive sampling rss 2019 arxiv learning densities in feature space for reliable segmentation of indoor scenes ieee robotics and automation letters ra l 2019 arxiv doi the fishyscapes benchmark measuring blind spots in semantic segmentation h blum pe sarlin j nieto r siegwart c cadena ijcv 2019 arxiv fishyscapes com doi modular sensor fusion for semantic segmentation h blum a gawel r siegwart c cadena iros 2018 arxiv doi code thanks to 0melapics freepik for the robot decorations this website has a low carbon footprint and is hosted on green energy