6 papers
Dream-MPC: Gradient-Based Model Predictive Control with Latent Imagination
Jonathan Spieler, Sven Behnke
State-of-the-art model-based Reinforcement Learning (RL) approaches either use gradient-free, population-based methods for planning, learned policy networks, or a combination of po…
Slot-MPC: Goal-Conditioned Model Predictive Control with Object-Centric Representations
Jonathan Spieler, Angel Villar-Corrales, Sven Behnke
Predictive world models enable agents to model scene dynamics and reason about the consequences of their actions. Inspired by human perception, object-centric world models capture…
AGILOped: Agile Open-Source Humanoid Robot for Research
Grzegorz Ficht, Luis Denninger, Sven Behnke
With academic and commercial interest for humanoid robots peaking, multiple platforms are being developed. Through a high level of customization, they showcase impressive performan…
Towards Conscious Service Robots
Sven Behnke
Deep learning's success in perception, natural language processing, etc. inspires hopes for advancements in autonomous robotics. However, real-world robotics face challenges like v…
Maximum Impulse Approach to Soccer Kicking for Humanoid Robots
Grzegorz Ficht, Sven Behnke
We introduce an analytic method for generating a parametric and constraint-aware kick for humanoid robots. The kick is split into four phases with trajectories stemming from equati…
HortiBot: An Adaptive Multi-Arm System for Robotic Horticulture of Sweet Peppers
Christian Lenz, Rohit Menon, Michael Schreiber +3
Horticultural tasks such as pruning and selective harvesting are labor intensive and horticultural staff are hard to find. Automating these tasks is challenging due to the semi-str…