154 citations · 510 across the 52 of their papers we have counts for
57 papers
DreamFormer: Dream Imitation with a Transformer World Model for Language-Conditioned Robotic Manipulation
Mostafa Kotb, Cornelius Weber, Muhammad Burhan Hafez +1
We introduce DreamFormer, a model-based agent that acquires language-conditioned, multi-task skills by imitating expert demonstrations within the latent imagination of a learned wo…
MorphIK: Morphology-Conditioned Neural Inverse Kinematics for Unknown Robots
Lennart Clasmeier, Jan Gerrit Habekost, Cornelius Weber +1
Neural models can learn to generate various solutions to the inverse kinematics problem from data, but are usually limited to a single robot. We present MorphIK, a flow-matching mo…
SmoLSTM: A Compact Vision-Language-Action Model with Recurrent Memory that Persists
Jan-Gerrit Habekost, Parsa Mastouri Kashani, Connor Gäde +5
Vision-language-action models often predict actions from only the current observation, which can leave tasks involving object occlusion or visually identical objects ambiguous with…
Uncertainty, Vagueness, and Ambiguity in Human-Robot Interaction: Why Conceptualization Matters
Xiaowen Sun, Cornelius Weber, Matthias Kerzel +2
Uncertainty, vagueness, and ambiguity are closely related and often confused concepts in human-robot interaction (HRI). In earlier studies, these concepts have been defined in cont…
Theory of Mind for Explainable Human-Robot Interaction
Marie S. Bauer, Julia Gachot, Matthias Kerzel +2
Within the context of human-robot interaction (HRI), Theory of Mind (ToM) is intended to serve as a user-friendly backend to the interface of robotic systems, enabling robots to in…
LLM-based Interactive Imitation Learning for Robotic Manipulation
Jonas Werner, Kun Chu, Cornelius Weber +1
Recent advancements in machine learning provide methods to train autonomous agents capable of handling the increasing complexity of sequential decision-making in robotics. Imitatio…