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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
A Primer on SO(3) Action Representations in Deep Reinforcement Learning
Martin Schuck, Sherif Samy, Angela P. Schoellig
Many robotic control tasks require policies to act on orientations, yet the geometry of SO(3) makes this nontrivial. Because SO(3) admits no global, smooth, minimal parameterizatio…
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…