5 papers
CC-VPSTO: Chance-Constrained Via-Point-Based Stochastic Trajectory Optimisation for Online Robot Motion Planning under Uncertainty
Lara Brudermüller, Guillaume Berger, Julius Jankowski +3
Reliable robot autonomy hinges on decision-making systems that account for uncertainty without imposing overly conservative restrictions on the robot's action space. We introduce C…
Diffusion-based Inverse Model of a Distributed Tactile Sensor for Object Pose Estimation
Ante MariÄ, Giammarco Caroleo, Alessandro Albini +3
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effe…
Diffusion-based Inverse Observation Model for Artificial Skin
Ante Maric, Julius Jankowski, Giammarco Caroleo +3
Contact-based estimation of object pose is challenging due to discontinuities and ambiguous observations that can correspond to multiple possible system states. This multimodality…
Distilling Contact Planning for Fast Trajectory Optimization in Robot Air Hockey
Julius Jankowski, Ante MariÄ, Puze Liu +3
Robot control through contact is challenging as it requires reasoning over long horizons and discontinuous system dynamics. Highly dynamic tasks such as Air Hockey additionally req…
A Retrospective on the Robot Air Hockey Challenge: Benchmarking Robust, Reliable, and Safe Learning Techniques for Real-world Robotics
Puze Liu, Jonas Günster, Niklas Funk +17
Machine learning methods have a groundbreaking impact in many application domains, but their application on real robotic platforms is still limited. Despite the many challenges ass…