Tobias Naegelit

Stefan Stevsic

PhD Student
Advanced Interactive Technologies Lab, ETH Zürich

Stampfenbachstrasse 48, 8092 Zürich, Switzerland
ETH Zurich, Department of Computer Science, STD, H 29.1


I am a final year Ph.D. student at the Department of Computer Science at ETH Zurich, working under the supervision of Prof. Dr. Otmar Hilliges. My focus lies in the areas of Computer Vision and Control Policy Learning, with the goal of enabling robots to learn new tasks from human demonstrations. I am interested in 6D pose estimation of rigid objects from RGB-D data, which allows robots to learn new manipulation tasks. For learning motions skills from human demonstration, I am interested in Imitation Learning and Reinforcement Learning approaches.

Additional Links:



Spatial Attention Improves Iterative 6D Object Pose Estimation


Capturing Subjective First-Person View Shots with Drones for Automated Cinematography

AuthorsA. Ashtari, S. Stevsic, T. Nägeli, J. Bazin, O. Hilliges
In ProceedingsACM Transactions on Graphics (Proceedings of ACM SIGGRAPH) (Volume: 39, Issue: 5), Aug 2020


Learning to Assemble: Estimating 6D Poses for Robotic Object-Object Manipulation

AuthorsS. Stevsic, S. Christen, O. Hilliges
In ProceedingsIEEE Robotics and Automation Letters (Volume: 5, Issue: 2), April 2020


Demonstration-Guided Deep Reinforcement Learning of Control Policies for Dexterous Human-Robot Interaction


Sample Efficient Learning of Path Following and Obstacle Avoidance Behavior for Quadrotors

AuthorsS. Stevsic, T. Nägeli, J. Alonso-Mora, O. Hilliges
In IEEE Robotics and Automation Letters (Volume: 3, Issue: 4), Oct 2018


Optimizing for Aesthetically Pleasing Quadrotor Camera Motion


Airways: Optimization-Based Planning of Quadrotor Trajectories according to High-Level User Goals

Authors C. Gebhardt*, B. Hepp*, T. Nägeli, S. Stevsic, O. Hilliges
To appear in ProceedingsACM SIGCHI, San Jose, CA, USA, May 2016
*The first two authors contributed equally to this work.

Towards Optimal Force Distribution for Walking Excavators

Authors M. Hutter, P. Leemann, S. Stevsic, A. Michel, D. Jud, M. Hoepflinger, R. Siegwart, R. Figi, C. Caduff, M. Loher, S. Tagmann
To Appear inInternational Conference on Advanced Robotics, Instanbul, Turkey, July. 2015 Best Paper Award


Student Theses

MA Nikola Vulin Learning to Control Contact Forces in Robotic Manipulation
MA Sammy Christen Demonstration-Guided Deep Reinforcement Learning of Control Policies for Human-Robot Interaction
MA Lyuan Hsu Transfer Learning for Mapless Quadrotor Navigation Using Recurrent Neural Network
SA Siwei Zhang One-Shot Imitation Learning for Particle Reaching with Multiple Targets