7 papers
Relational Semantic Reasoning on 3D Scene Graphs for Open World Interactive Object Search
Imen Mahdi, Matteo Cassinelli, Fabien Despinoy +2
Open-world interactive object search in household environments requires understanding semantic relationships between objects and their surrounding context to guide exploration effi…
Articulated 3D Scene Graphs for Open-World Mobile Manipulation
Martin Büchner, Adrian Röfer, Tim Engelbracht +5
Semantics has enabled 3D scene understanding and affordance-driven object interaction. However, robots operating in real-world environments face a critical limitation: they cannot…
DiWA: Diffusion Policy Adaptation with World Models
Akshay L Chandra, Iman Nematollahi, Chenguang Huang +3
Fine-tuning diffusion policies with reinforcement learning (RL) presents significant challenges. The long denoising sequence for each action prediction impedes effective reward pro…
Task-Driven Co-Design of Mobile Manipulators
Raphael Schneider, Daniel Honerkamp, Tim Welschehold +1
Recent interest in mobile manipulation has resulted in a wide range of new robot designs. A large family of these designs focuses on modular platforms that combine existing mobile…
MORE: Mobile Manipulation Rearrangement Through Grounded Language Reasoning
Mohammad Mohammadi, Daniel Honerkamp, Martin Büchner +5
Autonomous long-horizon mobile manipulation encompasses a multitude of challenges, including scene dynamics, unexplored areas, and error recovery. Recent works have leveraged found…
Whole-Body Teleoperation for Mobile Manipulation at Zero Added Cost
Daniel Honerkamp, Harsh Mahesheka, Jan Ole von Hartz +2
Demonstration data plays a key role in learning complex behaviors and training robotic foundation models. While effective control interfaces exist for static manipulators, data col…