5 papers
Point Cloud Segmentation for Autonomous Clip Positioning in Laparoscopic Cholecystectomy on a Phantom
Balázs Gyenes, Nikolai Franke, Paul Maria Scheikl +5
High-risk applications in robotics, such as robot-assisted surgery, present unique challenges. These systems must be both highly precise and interpretable in order to be deployed i…
Towards a Multi-Embodied Grasping Agent
Roman Freiberg, Alexander Qualmann, Ngo Anh Vien +1
Multi-embodiment grasping focuses on developing approaches that exhibit generalist behavior across diverse gripper designs. Existing methods often learn the kinematic structure of…
A Multi-View 3D Telepresence System for XR Robot Teleoperation
Enes Ulas Dincer, Manuel Zaremski, Alexandra Nick +3
Robot teleoperation is critical for applications such as remote maintenance, fleet robotics, search and rescue, and data collection for robot learning. Effective teleoperation requ…
Enhancing Exploration with Diffusion Policies in Hybrid Off-Policy RL: Application to Non-Prehensile Manipulation
Huy Le, Tai Hoang, Miroslav Gabriel +2
Learning diverse policies for non-prehensile manipulation is essential for improving skill transfer and generalization to out-of-distribution scenarios. In this work, we enhance ex…
Diffusion for Multi-Embodiment Grasping
Roman Freiberg, Alexander Qualmann, Ngo Anh Vien +1
Grasping is a fundamental skill in robotics with diverse applications across medical, industrial, and domestic domains. However, current approaches for predicting valid grasps are…