10 citations · 22 across the 21 of their papers we have counts for
6 papers · 1 filter
Identifying Terrain Physical Parameters from Vision -- Towards Physical-Parameter-Aware Locomotion and Navigation
Jiaqi Chen, Jonas Frey, Ruyi Zhou +3
Identifying the physical properties of the surrounding environment is essential for robotic locomotion and navigation to deal with non-geometric hazards, such as slippery and defor…
LPGD: A General Framework for Backpropagation through Embedded Optimization Layers
Anselm Paulus, Georg Martius, Vít Musil
Embedding parameterized optimization problems as layers into machine learning architectures serves as a powerful inductive bias. Training such architectures with stochastic gradien…
Causal Action Influence Aware Counterfactual Data Augmentation
Núria Armengol Urpí, Marco Bagatella, Marin Vlastelica +1
Offline data are both valuable and practical resources for teaching robots complex behaviors. Ideally, learning agents should not be constrained by the scarcity of available demons…
Wild Visual Navigation: Fast Traversability Learning via Pre-Trained Models and Online Self-Supervision
Matías Mattamala, Jonas Frey, Piotr Libera +5
Natural environments such as forests and grasslands are challenging for robotic navigation because of the false perception of rigid obstacles from high grass, twigs, or bushes. In…
Learning with 3D rotations, a hitchhiker's guide to SO(3)
A. René Geist, Jonas Frey, Mikel Zhobro +2
Many settings in machine learning require the selection of a rotation representation. However, choosing a suitable representation from the many available options is challenging. Th…
Learning to Control Emulated Muscles in Real Robots: Towards Exploiting Bio-Inspired Actuator Morphology
Pierre Schumacher, Lorenz Krause, Jan Schneider +3
Recent studies have demonstrated the immense potential of exploiting muscle actuator morphology for natural and robust movement -- in simulation. A validation on real robotic hardw…