6 papers
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…
Task-Aware Bimanual Affordance Prediction via VLM-Guided Semantic-Geometric Reasoning
Fabian Hahne, Vignesh Prasad, Georgia Chalvatzaki +2
Bimanual manipulation requires reasoning about where to interact with an object and which arm should perform each action, a joint affordance localization and arm allocation problem…
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…
The Role of Embodiment in Intuitive Whole-Body Teleoperation for Mobile Manipulation
Sophia Bianchi Moyen, Rickmer Krohn, Sophie Lueth +4
Intuitive Teleoperation interfaces are essential for mobile manipulation robots to ensure high quality data collection while reducing operator workload. A strong sense of embodimen…
Constrained Gaussian Process Motion Planning via Stein Variational Newton Inference
Jiayun Li, Kay Pompetzki, An Thai Le +3
Gaussian Process Motion Planning (GPMP) is a widely used framework for generating smooth trajectories within a limited compute time--an essential requirement in many robotic applic…