3 papers
cs.RO2025
ARMimic: Learning Robotic Manipulation from Passive Human Demonstrations in Augmented Reality
Rohan Walia, Yusheng Wang, Ralf Römer +3
Imitation learning is a powerful paradigm for robot skill acquisition, yet conventional demonstration methods--such as kinesthetic teaching and teleoperation--are cumbersome, hardw…
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
Diffusion Predictive Control with Constraints
Ralf Römer, Alexander von Rohr, Angela P. Schoellig
Diffusion models have become popular for policy learning in robotics due to their ability to capture high-dimensional and multimodal distributions. However, diffusion policies are…