45 citations
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8 papers · 1 filter
More Structure, Not More Capacity: Object-Centric Representations for Visuomotor Imitation Learning
Yi Li, Alexandre Chapin, Liming Chen +2
Robotic manipulation policies rely on pre-trained vision models that give either a global scene embedding or a dense patch grid. Both mix task-relevant and task-irrelevant features…
Lessons from the Field: A Case Study of Robotic Intervention in an Industrial Emergency
Jonathan Lichtenfeld, Frederik Bark, Robert Grafe +1
Incidents in chemical plants can pose a high level of risk and harsh environments for first responders. Contamination and explosion hazards can deny human access to the affected in…
C-ARC: Continuous-Adaptive Range Clustering for Non-Repetitive LiDAR Sensors
Nick B. Schroeder, Jonathan Lichtenfeld, Oskar von Stryk
Real-time LiDAR clustering identifies structures in point clouds, which is an essential prerequisite for many mobile robotics algorithms. Current methods are mostly developed for r…
Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning
Rickmer Krohn, Vignesh Prasad, Gabriele Tiboni +1
Effective contact-rich manipulation requires robots to synergistically leverage vision, force, and proprioception. However, Reinforcement Learning agents struggle to learn in such…
Muscle-inspired magnetic actuators that push, pull, crawl, and grasp
Muhammad Bilal Khan, Florian Hofmann, Kilian Schäfer +2
Functional magnetic composites capable of large deformation, load bearing, and multifunctional motion are essential for next-generation adaptive soft robots. Here, we present muscl…
Robust Adaptive Backstepping Impedance Control of Robots in Unknown Environments
Reza Nazmara, Alap Kshirsagar, Jan Peters +1
This paper presents a Robust Adaptive Backstepping Impedance Control (RABIC) strategy for robots operating in contact-rich and uncertain environments. The proposed control strategy…