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cs.RO2026
Learning Controlled Separation of Small Objects Between Two Fingers with a Tactile Skin
Ulf Kasolowsky, Berthold Bäuml
We introduce and solve the novel task of controlled separation of small objects with two fingers of a multi-purpose robotic hand: after grasping into a box of small objects, the ta…
cs.RO2026
Denoising Particle Filters: Learning State Estimation with Single-Step Objectives
Lennart Röstel, Berthold Bäuml
Learning-based methods commonly treat state estimation in robotics as a sequence modeling problem. While this paradigm can be effective at maximizing end-to-end performance, models…