21 citations · 22 across the 6 of their papers we have counts for
5 papers · 1 filter
Unified Learning of Temporal Task Structure and Action Timing for Bimanual Robot Manipulation
Christian Dreher, Patrick Dormanns, Andre Meixner +1
Bimanual manipulation requires both temporal task structure - which actions precede or overlap others - and concrete timing - when each action starts and how long it takes. Symboli…
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…
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…
On the Design of Region-Avoiding Metrics for Collision-Safe Motion Generation on Riemannian Manifolds
Holger Klein, Noémie Jaquier, Andre Meixner +1
The generation of energy-efficient and dynamic-aware robot motions that satisfy constraints such as joint limits, self-collisions, and collisions with the environment remains a cha…
A Riemannian Take on Human Motion Analysis and Retargeting
Holger Klein, Noémie Jaquier, Andre Meixner +1
Dynamic motions of humans and robots are widely driven by posture-dependent nonlinear interactions between their degrees of freedom. However, these dynamical effects remain mostly…