4 papers · 1 filter
SIR: Structured Image Representations for Explainable Robot Learning
Paul Mattes, Jan Schwab, Jens Bosch +5
Existing robot policies based on learned visual embeddings lack explicit structure and are sensitive to visual distractions. Thus, the representations that drive their behaviour ar…
SPARC: Reliable Spatial Annotations from Robot Demonstrations at Scale
Nils Blank, Paul Mattes, Maximilian Xiling Li +5
This work introduces Spatial Annotations from Robot Demonstrations with Reliability Calibration (SPARC), a risk-aware framework that automatically labels robot demonstrations with…
DuoBench: A Reproducible Benchmark for Bimanual Manipulation in Simulation and the Real World
Tobias Jülg, Seongjin Bien, Simon Hilber +7
Bimanual robot systems substantially expand manipulation capabilities, but coordinating two arms introduces additional control complexity and failure modes that are not well captur…
Use the Force, Bot! -- Force-Aware ProDMP with Event-Based Replanning
Paul Werner Lödige, Maximilian Xiling Li, Rudolf Lioutikov
Movement Primitives (MPs) are a well-established method for representing and generating modular robot trajectories. This work presents FA-ProDMP, a new approach which introduces fo…