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SE(3)-PoseFlow: Estimating 6D Pose Distributions for Uncertainty-Aware Robotic Manipulation
Yufeng Jin, Niklas Funk, Vignesh Prasad +4
Object pose estimation is a fundamental problem in robotics and computer vision, yet it remains challenging due to partial observability, occlusions, and object symmetries, which i…
Self-Supervised Multisensory Pretraining for Contact-Rich Robot Reinforcement Learning
Rickmer Krohn, Vignesh Prasad, Gabriele Tiboni +1
Effective contact-rich manipulation requires robots to synergistically leverage vision, force, and proprioception. However, Reinforcement Learning agents struggle to learn in such…
The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation
Sophia Bianchi Moyen, Rickmer Krohn, Sophie Lueth +4
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodimen…
2HandedAfforder: Learning Precise Actionable Bimanual Affordances from Human Videos
Marvin Heidinger, Snehal Jauhri, Vignesh Prasad +1
When interacting with objects, humans effectively reason about which regions of objects are viable for an intended action, i.e., the affordance regions of the object. They can also…