4 papers
Learning Action-Conditional and Object-Centric Gaussian Splatting World Models for Rigid Objects
Jens U. Kreber, Lukas Mack, Joerg Stueckler
World models enable intelligent agents to predict the consequences of their actions on the environment. In this paper, we propose Multi Rigid Object Gaussian World Model (MRO-GWM),…
ISyHand: A Dexterous Multi-finger Robot Hand with an Articulated Palm
Benjamin A. Richardson, Felix Grüninger, Lukas Mack +2
The rapid increase in the development of humanoid robots and customized manufacturing solutions has brought dexterous manipulation to the forefront of modern robotics. Over the pas…
Incremental Few-Shot Adaptation for Non-Prehensile Object Manipulation using Parallelizable Physics Simulators
Fabian Baumeister, Lukas Mack, Joerg Stueckler
Few-shot adaptation is an important capability for intelligent robots that perform tasks in open-world settings such as everyday environments or flexible production. In this paper,…
Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand with Low-Resolution In-Hand Tactile Sensing
Lukas Mack, Felix Grüninger, Benjamin A. Richardson +3
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own ha…