10 citations · 22 across the 21 of their papers we have counts for
6 papers · 1 filter
Belt-Finger: An Affordable Soft Belt-Driven Gripper for Dexterous In-Hand Manipulation
Boya Zhang, Andreas Zell, Georg Martius
Parallel-jaw grippers are the default manipulator choice in robotics because they are simple, robust, and inexpensive. Their limited in-hand mobility, however, often forces large a…
LoComposition: Terrain-Adaptive Energy-Efficient Quadruped Locomotion without Gait Priors
Loukas Kordos, Leonard T. Franz, Simon Rappenecker +4
Learning-based quadrupedal locomotion typically relies on complex reward formulations that entangle task specification, operational limits, gait preference, and terrain adaptation…
Novel Algorithms for Smoothly Differentiable and Efficiently Vectorizable Contact Manifold Construction
Onur Beker, Andreas René Geist, Anselm Paulus +1
Generating intelligent robot behavior in contact-rich settings is a research problem where zeroth-order methods currently prevail. Developing methods that make use of first/second…
SoftJAX & SoftTorch: Empowering Automatic Differentiation Libraries with Informative Gradients
Anselm Paulus, A. René Geist, Vít Musil +3
Automatic differentiation (AD) frameworks such as JAX and PyTorch have enabled gradient-based optimization for a wide range of scientific fields. Yet, many "hard" primitives in the…
Smoothly Differentiable and Efficiently Vectorizable Contact Manifold Generation
Onur Beker, Andreas René Geist, Anselm Paulus +4
Simulating rigid-body dynamics with contact in a fast, massively vectorizable, and smoothly differentiable manner is highly desirable in robotics. An important bottleneck faced by…
Stochastic Decision Horizons for Survival-Based Constrained Reinforcement Learning
Nikola Milosevic, Leonard Franz, Daniel Haeufle +3
We propose stochastic decision horizons (SDH), a theoretically grounded framework for survival-based constrained reinforcement learning from per-step violation signals. Rather than…