4 papers
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…
Interactive Shaping of Granular Media Using Reinforcement Learning
Benedikt Kreis, Malte Mosbach, Anny Ripke +3
Autonomous manipulation of granular media, such as sand, is crucial for applications in construction, excavation, and additive manufacturing. However, shaping granular materials pr…
Prompt-responsive Object Retrieval with Memory-augmented Student-Teacher Learning
Malte Mosbach, Sven Behnke
Building models responsive to input prompts represents a transformative shift in machine learning. This paradigm holds significant potential for robotics problems, such as targeted…
SOLD: Slot Object-Centric Latent Dynamics Models for Relational Manipulation Learning from Pixels
Malte Mosbach, Jan Niklas Ewertz, Angel Villar-Corrales +1
Learning a latent dynamics model provides a task-agnostic representation of an agent's understanding of its environment. Leveraging this knowledge for model-based reinforcement lea…