3 papers
cs.LG2025
scipy.spatial.transform: Differentiable Framework-Agnostic 3D Transformations in Python
Martin Schuck, Alexander von Rohr, Angela P. Schoellig
Three-dimensional rigid-body transforms, i.e. rotations and translations, are central to modern differentiable machine learning pipelines in robotics, vision, and simulation. Howev…
cs.RO2025
CRISP -- Compliant ROS2 Controllers for Learning-Based Manipulation Policies and Teleoperation
Daniel San José Pro, Oliver Hausdörfer, Ralf Römer +3
Learning-based controllers, such as diffusion policies and vision-language action models, often generate low-frequency or discontinuous robot state changes. Achieving smooth refere…
cs.RO2024
SwarmGPT: Combining Large Language Models with Safe Motion Planning for Drone Swarm Choreography
Martin Schuck, Dinushka Orrin Dahanaggamaarachchi, Ben Sprenger +3
Drone swarm performances -- synchronized, expressive aerial displays set to music -- have emerged as a captivating application of modern robotics. Yet designing smooth, safe choreo…