publications

2026

  1. kil-2026.png
    On the Generalization Capabilities, Design Choices and Limitations of Keypoint Imitation Learning
    Thomas Lips ,  Marco Moletta ,  Michael C. Welle , and 2 more authors
    under review, 2026
    arXiv
  2. ijrr-cloth-comp.jpg
    A dataset and benchmark for robotic cloth unfolding grasp selection: The ICRA 2024 Cloth Competition
    Victor-Louis De Gusseme ,  Thomas Lips ,  Remko Proesmans , and 1 more author
    The International Journal of Robotics Research, 2026
    arXiv Website
  3. icra26-cloth-hanger-instrumentation.png
    Instrumentation for Imitation Learning: Enhancing Training Datasets for Clothes Hanger Insertion
    Remko Proesmans ,  Thomas Lips ,  and  Francis wyffels
    In IEEE International Conference on Robotics and Automation (ICRA) , 2026
    arXiv

2025

  1. cloth-man-system-2025.jpg
    Insights for robotic cloth manipulation: A comprehensive analysis of a competition-winning system
    Victor-Louis De Gusseme ,  Remko Proesmans ,  Thomas Lips , and 2 more authors
    International Journal of Advanced Robotic Systems, 2025
    Website
  2. SPILL-thumbnail.png
    SPILL: Size, Pose, and Internal Liquid Level Estimation of Transparent Glassware for Robotic Bartending
    Louis Adriaens ,  Thomas Lips ,  Mathieu De Coster , and 2 more authors
    IEEE Robotics and Automation Letters, 2025
    Website

2024

  1. dsd-overview-gh.jpg
    Evaluating Text-to-Image Diffusion Models for Texturing Synthetic Data
    Thomas Lips ,  and  Francis wyffels
    CVPR 2025 workshop, 2024
    arXiv Code Website
  2. RAL-2024-cloth-keypoints.png
    Learning Keypoints for Robotic Cloth Manipulation using Synthetic Data
    Thomas Lips ,  Victor-Louis De Gusseme ,  and  Francis wyffels
    IEEE Robotics and Automation Letters, 2024
    arXiv Code Website

2023

  1. proprio-cabinets-overview-2023.png
    Revisiting Proprioceptive Sensing for Articulated Object Manipulation
    Thomas Lips ,  and  Francis wyffels
    Embracing Contacts workshop @ ICRA , 2023
    arXiv Code Website

2022

  1. synthetic-cloth-keypoints-blender-2022.png
    Learning Keypoints from Synthetic Data for Robotic Cloth Folding
    Thomas Lips ,  Victor-Louis De Gusseme ,  and  Francis wyffels
    2nd workshop on Representing and Manipulating Deformable Objects @ ICRA, 2022
    arXiv Code Website