5 papers
Morphologically Equivariant Flow Matching for Bimanual Mobile Manipulation
Max Siebenborn, Daniel Ordoñez Apraez, Sophie Lueth +4
Mobile manipulation requires coordinated control of high-dimensional, bimanual robots. Imitation learning methods have been broadly used to solve these robotic tasks, yet typically…
UniFField: A Generalizable Unified Neural Feature Field for Visual, Semantic, and Spatial Uncertainties in Any Scene
Christian Maurer, Snehal Jauhri, Sophie Lueth +1
Comprehensive visual, geometric, and semantic understanding of a 3D scene is crucial for successful execution of robotic tasks, especially in unstructured and complex environments.…
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…
Adaptive Diffusion Constrained Sampling for Bimanual Robot Manipulation
Haolei Tong, Yuezhe Zhang, Sophie Lueth +1
Coordinated multi-arm manipulation requires satisfying multiple simultaneous geometric constraints across high-dimensional configuration spaces, which poses a significant challenge…
Active-Perceptive Motion Generation for Mobile Manipulation
Snehal Jauhri, Sophie Lueth, Georgia Chalvatzaki
Mobile Manipulation (MoMa) systems incorporate the benefits of mobility and dexterity, due to the enlarged space in which they can move and interact with their environment. However…