1 citations · 1 across the 4 of their papers we have counts for
6 papers
Wrench-ACT: Enhancing Robot Policies for Contact Rich Behavior Using Direct Wrench Control
Johannes Hechtl, Yannik Blei, Simon Ball +5
While contact-rich manipulation requires deliberate regulation of interaction forces, recent approaches to robot manipulation learning predominantly represent actions as target pos…
Learning to Act While Waiting: RL Finetuning of Generalist Robot Policies Under Inference Latency
Brian Zhu, Momen Khalil, E Harrison +17
While reinforcement learning (RL) allows generalist robot policies to continually improve during deployment, the large model size of modern generalist policies, such as VLAs, poses…
A Factory-Floor Deployment Case Study of VLA Pipelines for Industrial Packaging Task: Workflow, Failures, and Lessons
Brian Zhu, Philipp Schmitt, Philine Meister +12
Vision-Language-Action (VLA) policies have shown promising manipulation capabilities, yet their practical impact is often limited by the reliability demands of real-world deploymen…
Enabling Dynamic Tracking in Vision-Language-Action Models via Time-Discrete and Time-Continuous Velocity Feedforward
Johannes Hechtl, Philipp Schmitt, Georg von Wichert +1
While vision-language-action (VLA) models have shown great promise for robot manipulation, their deployment on rigid industrial robots remains challenging due to the inherent trade…
Constraint-based Task Specification and Trajectory Optimization for Sequential Manipulation
Mun Seng Phoon, Philipp S. Schmitt, Georg v. Wichert
To economically deploy robotic manipulators the programming and execution of robot motions must be swift. To this end, we propose a novel, constraint-based method to intuitively sp…
Robust, Compliant Assembly via Optimal Belief Space Planning
Florian Wirnshofer, Philipp S. Schmitt, Wendelin Feiten +2
In automated manufacturing, robots must reliably assemble parts of various geometries and low tolerances. Ideally, they plan the required motions autonomously. This poses a substan…