4 papers · 1 filter
Learning Sim-Grounded Policies for Bimanual Rope Manipulation from Human Teleoperation Data
Gina Wigginghaus, Tim Missal, Berk Guler +2
Deformable Linear Objects (DLOs) such as ropes and cables are widely encountered in both household and industrial applications, yet remain challenging to manipulate due to their in…
AssistDLO: Assistive Teleoperation for Deformable Linear Object Manipulation
Berk Guler, Simon Manschitz, Kay Pompetzki +1
Manipulating Deformable Linear Objects (DLOs) is challenging in robotics due to their infinite-dimensional configuration space and complex nonlinear dynamics. In teleoperation, dep…
RopeDreamer: A Kinematic Recurrent State Space Model for Dynamics of Flexible Deformable Linear Objects
Tim Missal, Lucas Domingues, Berk Guler +3
The robotic manipulation of Deformable Linear Objects (DLOs) is a fundamental challenge due to the high-dimensional, non-linear dynamics of flexible structures and the complexity o…
A Safety-Aware Shared Autonomy Framework with BarrierIK Using Control Barrier Functions
Berk Guler, Kay Pompetzki, Yuanzheng Sun +2
Shared autonomy blends operator intent with autonomous assistance. In cluttered environments, linear blending can produce unsafe commands even when each source is individually coll…