21 citations · 21 across the 5 of their papers we have counts for
7 papers
Unified Learning of Temporal Task Structure and Action Timing for Bimanual Robot Manipulation
Christian Dreher, Patrick Dormanns, Andre Meixner +1
Bimanual manipulation requires both temporal task structure - which actions precede or overlap others - and concrete timing - when each action starts and how long it takes. Symboli…
Learning Spatial Bimanual Action Models Based on Affordance Regions and Human Demonstrations
Björn S. Plonka, Christian Dreher, Andre Meixner +2
In this paper, we present a novel approach for learning bimanual manipulation actions from human demonstration by extracting spatial constraints between affordance regions, termed…
Learning Symbolic and Subsymbolic Temporal Task Constraints from Bimanual Human Demonstrations
Christian Dreher, Tamim Asfour
Learning task models of bimanual manipulation from human demonstration and their execution on a robot should take temporal constraints between actions into account. This includes c…
Incremental Learning of Full-Pose Via-Point Movement Primitives on Riemannian Manifolds
Tilman Daab, Noémie Jaquier, Christian Dreher +3
Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots…
A Memory System of a Robot Cognitive Architecture and its Implementation in ArmarX
Fabian Peller-Konrad, Rainer Kartmann, Christian R. G. Dreher +4
Cognitive agents such as humans and robots perceive their environment through an abundance of sensors producing streams of data that need to be processed to generate intelligent be…
Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks
Christian R. G. Dreher, Mirko Wächter, Tamim Asfour
Recognizing human actions is a vital task for a humanoid robot, especially in domains like programming by demonstration. Previous approaches on action recognition primarily focused…