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cs.RO2026
DreamFormer: Dream Imitation with a Transformer World Model for Language-Conditioned Robotic Manipulation
Mostafa Kotb, Cornelius Weber, Muhammad Burhan Hafez +1
We introduce DreamFormer, a model-based agent that acquires language-conditioned, multi-task skills by imitating expert demonstrations within the latent imagination of a learned wo…
cs.RO2026
MorphIK: Morphology-Conditioned Neural Inverse Kinematics for Unknown Robots
Lennart Clasmeier, Jan Gerrit Habekost, Cornelius Weber +1
Neural models can learn to generate various solutions to the inverse kinematics problem from data, but are usually limited to a single robot. We present MorphIK, a flow-matching mo…