2 citations · 4 across the 10 of their papers we have counts for
10 papers
Slot-MPC: Goal-Conditioned Model Predictive Control with Object-Centric Representations
Jonathan Spieler, Angel Villar-Corrales, Sven Behnke
Predictive world models enable agents to model scene dynamics and reason about the consequences of their actions. Inspired by human perception, object-centric world models capture…
Dream-MPC: Gradient-Based Model Predictive Control with Latent Imagination
Jonathan Spieler, Sven Behnke
State-of-the-art model-based Reinforcement Learning (RL) approaches either use gradient-free, population-based methods for planning, learned policy networks, or a combination of po…
AGILOped: Agile Open-Source Humanoid Robot for Research
Grzegorz Ficht, Luis Denninger, Sven Behnke
With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performan…
Towards Conscious Service Robots
Sven Behnke
Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like v…
Maximum Impulse Approach to Soccer Kicking for Humanoid Robots
Grzegorz Ficht, Sven Behnke
We introduce an analytic method for generating a parametric and constraint-aware kick for humanoid robots. The kick is split into four phases with trajectories stemming from equati…
HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers
Christian Lenz, Rohit Menon, Michael Schreiber +3
Horticultural tasks such as pruning and selective harvesting are labor intensive and horticultural staff are hard to find. Automating these tasks is challenging due to the semi-str…
Spiking CenterNet: A Distillation-boosted Spiking Neural Network for Object Detection
Lennard Bodden, Franziska Schwaiger, Duc Bach Ha +2
In the era of AI at the edge, self-driving cars, and climate change, the need for energy-efficient, small, embedded AI is growing. Spiking Neural Networks (SNNs) are a promising ap…
RoboCup 2023 Humanoid AdultSize Winner NimbRo: NimbRoNet3 Visual Perception and Responsive Gait with Waveform In-walk Kicks
Dmytro Pavlichenko, Grzegorz Ficht, Angel Villar-Corrales +5
The RoboCup Humanoid League holds annual soccer robot world championships towards the long-term objective of winning against the FIFA world champions by 2050. The participating tea…
Analysis and Perspectives on the ANA Avatar XPRIZE Competition
Kris Hauser, Eleanor Watson, Joonbum Bae +25
The ANA Avatar XPRIZE was a four-year competition to develop a robotic "avatar" system to allow a human operator to sense, communicate, and act in a remote environment as though ph…
Centroidal State Estimation and Control for Hardware-constrained Humanoid Robots
Grzegorz Ficht, Sven Behnke
We introduce novel methods for state estimation, feedforward and feedback control, which specifically target humanoid robots with hardware limitations. Our method combines a five-m…