8 papers · 1 filter
EL3DD: Extended Latent 3D Diffusion for Language Conditioned Multitask Manipulation
Jonas Bode, Raphael Memmesheimer, Sven Behnke
Acting in human environments is a crucial capability for general-purpose robots, necessitating a robust understanding of natural language and its application to physical tasks. Thi…
OMCL: Open-vocabulary Monte Carlo Localization
Evgenii Kruzhkov, Raphael Memmesheimer, Sven Behnke
Robust robot localization is an important prerequisite for navigation, but it becomes challenging when the map and robot measurements are obtained from different sensors. Prior met…
Integration of the TIAGo Robot into Isaac Sim with Mecanum Drive Modeling and Learned S-Curve Velocity Profiles
Vincent Schoenbach, Marvin Wiedemann, Raphael Memmesheimer +2
Efficient physics simulation has significantly accelerated research progress in robotics applications such as grasping and assembly. The advent of GPU-accelerated simulation framew…
Anticipating Human Behavior for Safe Navigation and Efficient Collaborative Manipulation with Mobile Service Robots
Simon Bultmann, Raphael Memmesheimer, Jan Nogga +2
The anticipation of human behavior is a crucial capability for robots to interact with humans safely and efficiently. We employ a smart edge sensor network to provide global observ…
RoboCup@Home 2024 OPL Winner NimbRo: Anthropomorphic Service Robots using Foundation Models for Perception and Planning
Raphael Memmesheimer, Jan Nogga, Bastian Pätzold +8
We present the approaches and contributions of the winning team NimbRo@Home at the RoboCup@Home 2024 competition in the Open Platform League held in Eindhoven, NL. Further, we desc…
Self-Centering 3-DoF Feet Controller for Hands-Free Locomotion Control in Telepresence and Virtual Reality
Raphael Memmesheimer, Christian Lenz, Max Schwarz +2
We present a novel seated feet controller for handling 3-DoF aimed to control locomotion for telepresence robotics and virtual reality environments. Tilting the feet on two axes yi…