Papers connected to the CRAM system showing the concepts and techniques used during design are shown here:

• Knowledge Enabled High-Level Task Abstraction and Execution (published at ACS 2012, Palo Alto, CA)
• Fast Temporal Projection Using Accurate Physics-Based Geometric Reasoning (published In IEEE International Conference on Robotics and Automation (ICRA), 2013)
• CRAM -- a Cognitive Robot Abstract Machine (published In 5th International Conference on Cognitive Systems (CogSys 2012), 2012)
• Parameterizing Actions to have the Appropriate Effects (published In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011)
• Towards Performing Everyday Manipulation Activities (published In Robotics and Autonomous Systems, Elsevier, volume 58, 2010)
• Becoming Action-aware through Reasoning about Logged Plan Execution Traces (published In IEEE/RSJ International Conference on Intelligent RObots and Systems., 2010)
• CRAM -- A Cognitive Robot Abstract Machine for Everyday Manipulation in Human Environments (published In IEEE/RSJ International Conference on Intelligent Robots and Systems, 2010)
• An Integrated Planning and Learning Framework for Human-Robot Interaction (published In 4th Workshop on Planning and Plan Execution for Real-World Systems (held in conjuction with ICAPS 09), 2009)
• High Performance Execution of Everyday Pick-and-Place Tasks by Integrating Transformation Planning and Reactive Execution (published In Proceedings of the 1st International Workshop on Cognition for Technical Systems, München, Germany, 6-8 October, 2008)