36 citations · 197 across the 41 of their papers we have counts for
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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…
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…
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…
Two-step Planning of Dynamic UAV Trajectories using Iterative -Spaces
Sebastian Schräder, Daniel Schleich, Sven Behnke
UAV trajectory planning is often done in a two-step approach, where a low-dimensional path is refined to a dynamic trajectory. The resulting trajectories are only locally optimal,…
Real-Robot Deep Reinforcement Learning: Improving Trajectory Tracking of Flexible-Joint Manipulator with Reference Correction
Dmytro Pavlichenko, Sven Behnke
Flexible-joint manipulators are governed by complex nonlinear dynamics, defining a challenging control problem. In this work, we propose an approach to learn an outer-loop joint tr…
Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020
Marius Beul, Max Schwarz, Jan Quenzel +11
The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 posed diverse challenges for unmanned aerial vehicles (UAVs). We present our four tailored UAVs, specifically d…