16 citations · 27 across the 6 of their papers we have counts for
6 papers
scipy.spatial.transform: Differentiable Framework-Agnostic 3D Transformations in Python
Martin Schuck, Alexander von Rohr, Angela P. Schoellig
Three-dimensional rigid-body transforms, i.e. rotations and translations, are central to modern differentiable machine learning pipelines in robotics, vision, and simulation. Howev…
Diffusion Predictive Control with Constraints
Ralf Römer, Alexander von Rohr, Angela P. Schoellig
Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are…
Multi-Arm Bin-Picking in Real-Time: A Combined Task and Motion Planning Approach
Ilyes Toumi, Andreas Orthey, Alexander von Rohr +1
Automated bin-picking is a prerequisite for fully automated manufacturing and warehouses. To successfully pick an item from an unstructured bin the robot needs to first detect poss…
On Controller Tuning with Time-Varying Bayesian Optimization
Paul Brunzema, Alexander von Rohr, Sebastian Trimpe
Changing conditions or environments can cause system dynamics to vary over time. To ensure optimal control performance, controllers should adapt to these changes. When the underlyi…
Excursion Search for Constrained Bayesian Optimization under a Limited Budget of Failures
Alonso Marco, Alexander von Rohr, Dominik Baumann +2
When learning to ride a bike, a child falls down a number of times before achieving the first success. As falling down usually has only mild consequences, it can be seen as a toler…
A Learnable Safety Measure
Steve Heim, Alexander von Rohr, Sebastian Trimpe +1
Failures are challenging for learning to control physical systems since they risk damage, time-consuming resets, and often provide little gradient information. Adding safety constr…