194 citations · 1.5k across the 123 of their papers we have counts for
150 papers
NimbRo wins ANA Avatar XPRIZE Immersive Telepresence Competition: Human-Centric Evaluation and Lessons Learned
Christian Lenz, Max Schwarz, Andre Rochow +4
Robotic avatar systems can enable immersive telepresence with locomotion, manipulation, and communication capabilities. We present such an avatar system, based on the key component…
The $10 Million ANA Avatar XPRIZE Competition Advanced Immersive Telepresence Systems
Sven Behnke, Julie A. Adams, David Locke
The $10M ANA Avatar XPRIZE aimed to create avatar systems that can transport human presence to remote locations in real time. The participants of this multi-year competition develo…
Learning Generalizable Tool Use with Non-rigid Grasp-pose Registration
Malte Mosbach, Sven Behnke
Tool use, a hallmark feature of human intelligence, remains a challenging problem in robotics due the complex contacts and high-dimensional action space. In this work, we present a…
YOLOPose V2: Understanding and Improving Transformer-based 6D Pose Estimation
Arul Selvam Periyasamy, Arash Amini, Vladimir Tsaturyan +1
6D object pose estimation is a crucial prerequisite for autonomous robot manipulation applications. The state-of-the-art models for pose estimation are convolutional neural network…
Dexterous Pre-grasp Manipulation for Human-like Functional Categorical Grasping: Deep Reinforcement Learning and Grasp Representations
Dmytro Pavlichenko, Sven Behnke
Many objects, such as tools and household items, can be used only if grasped in a very specific way - grasped functionally. Often, a direct functional grasp is not possible, though…
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
Ilyass Taouil, Giulio Turrisi, Daniel Schleich +3
Legged robots are increasingly entering new domains and applications, including search and rescue, inspection, and logistics. However, for such systems to be valuable in real-world…
VR Facial Animation for Immersive Telepresence Avatars
Andre Rochow, Max Schwarz, Michael Schreiber +1
VR Facial Animation is necessary in applications requiring clear view of the face, even though a VR headset is worn. In our case, we aim to animate the face of an operator who is c…
External Camera-based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensors
Simon Bultmann, Raphael Memmesheimer, Sven Behnke
We present an approach for estimating a mobile robot's pose w.r.t. the allocentric coordinates of a network of static cameras using multi-view RGB images. The images are processed…
Audio-based Roughness Sensing and Tactile Feedback for Haptic Perception in Telepresence
Bastian Pätzold, Andre Rochow, Michael Schreiber +4
Haptic perception is highly important for immersive teleoperation of robots, especially for accomplishing manipulation tasks. We propose a low-cost haptic sensing and rendering sys…
Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals
Max Schwarz, Christian Lenz, Raphael Memmesheimer +4
Robotic avatar systems promise to bridge distances and reduce the need for travel. We present the updated NimbRo avatar system, winner of the $5M grand prize at the international A…
RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-based In-walk Kicks
Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini +7
Beating the human world champions by 2050 is an ambitious goal of the Humanoid League that provides a strong incentive for RoboCup teams to further improve and develop their system…
Object-Centric Video Prediction via Decoupling of Object Dynamics and Interactions
Angel Villar-Corrales, Ismail Wahdan, Sven Behnke
We propose a novel framework for the task of object-centric video prediction, i.e., extracting the compositional structure of a video sequence, as well as modeling objects dynamics…
Rendering the Directional TSDF for Tracking and Multi-Sensor Registration with Point-To-Plane Scale ICP
Malte Splietker, Sven Behnke
Dense real-time tracking and mapping from RGB-D images is an important tool for many robotic applications, such as navigation and manipulation. The recently presented Directional T…
Bimanual Telemanipulation with Force and Haptic Feedback through an Anthropomorphic Avatar System
Christian Lenz, Sven Behnke
Robotic teleoperation is a key technology for a wide variety of applications. It allows sending robots instead of humans in remote, possibly dangerous locations while still using t…
Accelerating Interactive Human-like Manipulation Learning with GPU-based Simulation and High-quality Demonstrations
Malte Mosbach, Kara Moraw, Sven Behnke
Dexterous manipulation with anthropomorphic robot hands remains a challenging problem in robotics because of the high-dimensional state and action spaces and complex contacts. Neve…
Learning Implicit Probability Distribution Functions for Symmetric Orientation Estimation from RGB Images Without Pose Labels
Arul Selvam Periyasamy, Luis Denninger, Sven Behnke
Object pose estimation is a necessary prerequisite for autonomous robotic manipulation, but the presence of symmetry increases the complexity of the pose estimation task. Existing…
State Estimation for Hybrid Locomotion of Driving-Stepping Quadrupeds
Mojtaba Hosseini, Diego Rodriguez, Sven Behnke
Fast and versatile locomotion can be achieved with wheeled quadruped robots that drive quickly on flat terrain, but are also able to overcome challenging terrain by adapting their…
Object-level 3D Semantic Mapping using a Network of Smart Edge Sensors
Julian Hau, Simon Bultmann, Sven Behnke
Autonomous robots that interact with their environment require a detailed semantic scene model. For this, volumetric semantic maps are frequently used. The scene understanding can…
Efficient Representations of Object Geometry for Reinforcement Learning of Interactive Grasping Policies
Malte Mosbach, Sven Behnke
Grasping objects of different shapes and sizes - a foundational, effortless skill for humans - remains a challenging task in robotics. Although model-based approaches can predict s…
PermutoSDF: Fast Multi-View Reconstruction with Implicit Surfaces using Permutohedral Lattices
Radu Alexandru Rosu, Sven Behnke
Neural radiance-density field methods have become increasingly popular for the task of novel-view rendering. Their recent extension to hash-based positional encoding ensures fast t…
Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles with Label Propagation for Cross-Domain Adaptation
Simon Bultmann, Jan Quenzel, Sven Behnke
Unmanned aerial vehicles (UAVs) equipped with multiple complementary sensors have tremendous potential for fast autonomous or remote-controlled semantic scene analysis, e.g., for d…
Online Marker-free Extrinsic Camera Calibration using Person Keypoint Detections
Bastian Pätzold, Simon Bultmann, Sven Behnke
Calibration of multi-camera systems, i.e. determining the relative poses between the cameras, is a prerequisite for many tasks in computer vision and robotics. Camera calibration i…
Predictive Angular Potential Field-based Obstacle Avoidance for Dynamic UAV Flights
Daniel Schleich, Sven Behnke
In recent years, unmanned aerial vehicles (UAVs) are used for numerous inspection and video capture tasks. Manually controlling UAVs in the vicinity of obstacles is challenging, ho…
Direct Centroidal Control for Balanced Humanoid Locomotion
Grzegorz Ficht, Sven Behnke
We present an integrated approach to locomotion and balancing of humanoid robots based on direct centroidal control. Our method uses a five-mass description of a humanoid. It gener…