194 citations · 1.5k across the 123 of their papers we have counts for
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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…