Zobrazeno 1 - 10
of 237
pro vyhledávání: '"Pokorny, Florian"'
Scene rearrangement, like table tidying, is a challenging task in robotic manipulation due to the complexity of predicting diverse object arrangements. Web-scale trained generative models such as Stable Diffusion can aid by generating natural scenes
Externí odkaz:
http://arxiv.org/abs/2410.22059
Autor:
Wang, Ruiyu, Zhuang, Zheyu, Jin, Shutong, Ingelhag, Nils, Kragic, Danica, Pokorny, Florian T.
An end-to-end (E2E) visuomotor policy is typically treated as a unified whole, but recent approaches using out-of-domain (OOD) data to pretrain the visual encoder have cleanly separated the visual encoder from the network, with the remainder referred
Externí odkaz:
http://arxiv.org/abs/2409.20248
Autor:
Dong, Yifei, Han, Shaohang, Cheng, Xianyi, Friedl, Werner, Muchacho, Rafael I. Cabral, Roa, Máximo A., Tumova, Jana, Pokorny, Florian T.
Inherent robustness in manipulation is prevalent in biological systems and critical for robotic manipulation systems due to real-world uncertainties and disturbances. This robustness relies not only on robust control policies but also on the design c
Externí odkaz:
http://arxiv.org/abs/2409.11113
Useful robot control algorithms should not only achieve performance objectives but also adhere to hard safety constraints. Control Barrier Functions (CBFs) have been developed to provably ensure system safety through forward invariance. However, they
Externí odkaz:
http://arxiv.org/abs/2407.12624
Autor:
Triantafyllopoulos, Andreas, Batliner, Anton, Mayr, Wolfgang, Fendler, Markus, Pokorny, Florian, Gerczuk, Maurice, Amiriparian, Shahin, Berghaus, Thomas, Schuller, Björn
Chronic obstructive pulmonary disease (COPD) is a serious inflammatory lung disease affecting millions of people around the world. Due to an obstructed airflow from the lungs, it also becomes manifest in patients' vocal behaviour. Of particular impor
Externí odkaz:
http://arxiv.org/abs/2406.06355
The term safety in robotics is often understood as a synonym for avoidance. Although this perspective has led to progress in path planning and reactive control, a generalization of this perspective is necessary to include task semantics relevant to c
Externí odkaz:
http://arxiv.org/abs/2406.03200
In this paper, we investigate the Walk on Spheres algorithm (WoS) for motion planning in robotics. WoS is a Monte Carlo method to solve the Dirichlet problem developed in the 50s by Muller and has recently been repopularized by Sawhney and Crane, who
Externí odkaz:
http://arxiv.org/abs/2406.01713
To develop robust manipulation policies, quantifying robustness is essential. Evaluating robustness in general manipulation, nonetheless, poses significant challenges due to complex hybrid dynamics, combinatorial explosion of possible contact interac
Externí odkaz:
http://arxiv.org/abs/2404.12115
Even though large-scale text-to-image generative models show promising performance in synthesizing high-quality images, applying these models directly to image editing remains a significant challenge. This challenge is further amplified in video edit
Externí odkaz:
http://arxiv.org/abs/2312.12635
As model and dataset sizes continue to scale in robot learning, the need to understand how the composition and properties of a dataset affect model performance becomes increasingly urgent to ensure cost-effective data collection and model performance
Externí odkaz:
http://arxiv.org/abs/2310.02044