10 citations · 19 across the 17 of their papers we have counts for
7 papers · 1 filter
ForceTwin: Physics-informed Digital Twins for Robotic Manipulation from Instrumented Human Interaction
Tim Engelbracht, René Zurbrügg, Mayank Mittal +4
Manipulating objects requires understanding not only their motion, but also the physical properties that determine it. For articulated objects, these include inertia, friction, and…
ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D videos
Pranjal Mishra, René Zurbrügg, Max Wilder-Smith +4
Deploying robots in unstructured real-world environments needs accurate, interactive models of the objects. Constructing these models at scale remains a critical bottleneck for rob…
Articulated 3D Scene Graphs for Open-World Mobile Manipulation
Martin Büchner, Adrian Röfer, Tim Engelbracht +5
Semantic scene understanding has enabled robots to reason and perform affordance-driven object interaction. Despite this, real-world manipulation remains fundamentally limited by t…
Hoi! - A Multimodal Dataset for Force-Grounded, Cross-View Articulated Manipulation
Tim Engelbracht, René Zurbrügg, Matteo Wohlrapp +5
We present a dataset for force-grounded, cross-view articulated manipulation that couples what is seen with what is done and what is felt during real human interaction. The dataset…
Lost & Found: Tracking Changes from Egocentric Observations in 3D Dynamic Scene Graphs
Tjark Behrens, René Zurbrügg, Marc Pollefeys +2
Recent approaches have successfully focused on the segmentation of static reconstructions, thereby equipping downstream applications with semantic 3D understanding. However, the wo…
HoloSpot: Intuitive Object Manipulation via Mixed Reality Drag-and-Drop
Pablo Soler Garcia, Petar Lukovic, Lucie Reynaud +8
Human-robot interaction through mixed reality (MR) technologies enables novel, intuitive interfaces to control robots in remote operations. Such interfaces facilitate operations in…
Spot-Compose: A Framework for Open-Vocabulary Object Retrieval and Drawer Manipulation in Point Clouds
Oliver Lemke, Zuria Bauer, René Zurbrügg +3
In recent years, modern techniques in deep learning and large-scale datasets have led to impressive progress in 3D instance segmentation, grasp pose estimation, and robotics. This…