3 papers
cs.RO2026
Unified Learning of Temporal Task Structure and Action Timing for Bimanual Robot Manipulation
Christian Dreher, Patrick Dormanns, Andre Meixner +1
Temporal task structure is fundamental for bimanual manipulation: a robot must not only know that one action precedes or overlaps another, but also when each action should occur an…
cs.RO2024
Learning Spatial Bimanual Action Models Based on Affordance Regions and Human Demonstrations
Björn S. Plonka, Christian Dreher, Andre Meixner +2
In this paper, we present a novel approach for learning bimanual manipulation actions from human demonstration by extracting spatial constraints between affordance regions, termed…
cs.RO2023
Incremental Learning of Full-Pose Via-Point Movement Primitives on Riemannian Manifolds
Tilman Daab, Noémie Jaquier, Christian Dreher +3
Movement primitives (MPs) are compact representations of robot skills that can be learned from demonstrations and combined into complex behaviors. However, merely equipping robots…