4 papers
Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objects
Jens U. Kreber, Lukas Mack, Joerg Stueckler
World models enable intelligent agents to predict the consequences of their actions on the environment. In this paper, we propose Multi Rigid Object Gaussian World Model (MRO-GWM),…
Guided Diffusion by Optimized Loss Functions on Relaxed Parameters for Inverse Material Design
Jens U. Kreber, Christian Weißenfels, Joerg Stueckler
Inverse design problems are common in engineering and materials science. The forward direction, i.e., computing output quantities from design parameters, typically requires running…
Guiding Diffusion-Based Articulated Object Generation by Partial Point Cloud Alignment and Physical Plausibility Constraints
Jens U. Kreber, Joerg Stueckler
Articulated objects are an important type of interactable objects in everyday environments. In this paper, we propose PhysNAP, a novel diffusion model-based approach for generating…
Learning a Terrain- and Robot-Aware Dynamics Model for Autonomous Mobile Robot Navigation
Jan Achterhold, Suresh Guttikonda, Jens U. Kreber +2
Mobile robots should be capable of planning cost-efficient paths for autonomous navigation. Typically, the terrain and robot properties are subject to variations. For instance, pro…