From the 1 of 9 linked papers with an AI index.
9 papers
Catch, Throw, Repeat: Planning for Human-Robot Partner Juggling
Jonathan Rainer Lippert, Kai Ploeger, Abir Chowdhury +3
The paper introduces a real‑time planning and control system that lets a robot catch and throw balls in sync with a human partner, enabling coordinated multi‑ball juggling through…
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…
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…
Task-Aware Bimanual Affordance Prediction via VLM-Guided Semantic-Geometric Reasoning
Fabian Hahne, Vignesh Prasad, Georgia Chalvatzaki +2
Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem…
Investigating the Effect of LED Signals and Emotional Displays in Human-Robot Shared Workspaces
Maria Ibrahim, Alap Kshirsagar, Dorothea Koert +1
Effective communication is essential for safety and efficiency in human-robot collaboration, particularly in shared workspaces. This paper investigates the impact of nonverbal comm…
In-Hand Object Pose Estimation via Visual-Tactile Fusion
Felix NonnengieÃer, Alap Kshirsagar, Boris Belousov +1
Accurate in-hand pose estimation is crucial for robotic object manipulation, but visual occlusion remains a major challenge for vision-based approaches. This paper presents an appr…