3 papers
cs.RO2026
Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand
Matthias Humt, Dominik Winkelbauer, Ulrich Hillenbrand +1
Grasping objects with limited or no prior knowledge about them is a highly relevant skill in assistive robotics. Still, in this general setting, it has remained an open problem, es…
cs.CV2026
Shape Completion with Prediction of Uncertain Regions
Matthias Humt, Dominik Winkelbauer, Ulrich Hillenbrand
Shape completion, i.e., predicting the complete geometry of an object from a partial observation, is highly relevant for several downstream tasks, most notably robotic manipulation…
cs.RO2025
Composing Dextrous Grasping and In-hand Manipulation via Scoring with a Reinforcement Learning Critic
Lennart Röstel, Dominik Winkelbauer, Johannes Pitz +2
In-hand manipulation and grasping are fundamental yet often separately addressed tasks in robotics. For deriving in-hand manipulation policies, reinforcement learning has recently…