On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting

Authors: Funk, Niklas, Chen, Changqi, Schneider, Tim, Chalvatzaki, Georgia, Calandra, Roberto, Peters, Jan

Subject Terms: Computer Science - Robotics

Access URL: http://arxiv.org/abs/2504.13618

Constrained Gaussian Process Motion Planning via Stein Variational Newton Inference

Authors: Li, Jiayun, Pompetzki, Kay, Le, An Thai, Tong, Haolei, Peters, Jan, Chalvatzaki, Georgia

Subject Terms: Computer Science - Robotics, Computer Science - Machine Learning

Access URL: http://arxiv.org/abs/2504.04936

2HandedAfforder: Learning Precise Actionable Bimanual Affordances from Human Videos

Authors: Heidinger, Marvin, Jauhri, Snehal, Prasad, Vignesh, Chalvatzaki, Georgia

Subject Terms: Computer Science - Computer Vision and Pattern Recognition, Computer Science - Machine Learning, Computer Science - Robotics

Access URL: http://arxiv.org/abs/2503.09320

Extended Tree Search for Robot Task and Motion Planning

Authors: Ren, Tianyu, Chalvatzaki, Georgia, Peters, Jan

Source: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Intelligent Robots and Systems (IROS), 2024 IEEE/RSJ International Conference on. :12048-12055 Oct, 2024

Relation: 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

Continual Learning Should Move Beyond Incremental Classification

Authors: Mitchell, Rupert, Alliegro, Antonio, Camoriano, Raffaello, Carrión-Ojeda, Dustin, Carta, Antonio, Chalvatzaki, Georgia, Churamani, Nikhil, D'Eramo, Carlo, Hamidi, Samin, Hesse, Robin, Hinder, Fabian, Kamath, Roshni Ramanna, Lomonaco, Vincenzo, Paul, Subarnaduti, Pistilli, Francesca, Tuytelaars, Tinne, van de Ven, Gido M, Kersting, Kristian, Schaub-Meyer, Simone, Mundt, Martin

Subject Terms: Computer Science - Machine Learning

Access URL: http://arxiv.org/abs/2502.11927

DIME:Diffusion-Based Maximum Entropy Reinforcement Learning

Authors: Celik, Onur, Li, Zechu, Blessing, Denis, Li, Ge, Palanicek, Daniel, Peters, Jan, Chalvatzaki, Georgia, Neumann, Gerhard

Subject Terms: Computer Science - Machine Learning

Access URL: http://arxiv.org/abs/2502.02316

6DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splatting

Authors: Jin, Yufeng, Prasad, Vignesh, Jauhri, Snehal, Franzius, Mathias, Chalvatzaki, Georgia

Subject Terms: Computer Science - Computer Vision and Pattern Recognition, Computer Science - Robotics

Access URL: http://arxiv.org/abs/2412.01543

Active-Perceptive Motion Generation for Mobile Manipulation

Authors: Jauhri, Snehal, Lueth, Sophie, Chalvatzaki, Georgia

Source: 2024 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2024 IEEE International Conference on. :1413-1419 May, 2024

Relation: 2024 IEEE International Conference on Robotics and Automation (ICRA)

Global Tensor Motion Planning

Authors: Le, An T., Hansel, Kay, Carvalho, João, Watson, Joe, Urain, Julen, Biess, Armin, Chalvatzaki, Georgia, Peters, Jan

Subject Terms: Computer Science - Robotics, Computer Science - Artificial Intelligence, Computer Science - Machine Learning, Electrical Engineering and Systems Science - Systems and Control

Access URL: http://arxiv.org/abs/2411.19393

ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching

Authors: Funk, Niklas, Urain, Julen, Carvalho, Joao, Prasad, Vignesh, Chalvatzaki, Georgia, Peters, Jan

Subject Terms: Computer Science - Robotics, Computer Science - Artificial Intelligence

Access URL: http://arxiv.org/abs/2409.04576

Safe and Efficient Path Planning under Uncertainty via Deep Collision Probability Fields

Authors: Herrmann, Felix, Zach, Sebastian, Banfi, Jacopo, Peters, Jan, Chalvatzaki, Georgia, Tateo, Davide

Subject Terms: Computer Science - Robotics, Computer Science - Artificial Intelligence

Access URL: http://arxiv.org/abs/2409.04306

Deep Generative Models in Robotics: A Survey on Learning from Multimodal Demonstrations

Authors: Urain, Julen, Mandlekar, Ajay, Du, Yilun, Shafiullah, Mahi, Xu, Danfei, Fragkiadaki, Katerina, Chalvatzaki, Georgia, Peters, Jan

Subject Terms: Computer Science - Robotics, Computer Science - Machine Learning

Access URL: http://arxiv.org/abs/2408.04380

MoVEInt: Mixture of Variational Experts for Learning Human-Robot Interactions from Demonstrations

Authors: Prasad, Vignesh, Kshirsagar, Alap, Koert, Dorothea, Stock-Homburg, Ruth, Peters, Jan, Chalvatzaki, Georgia

Subject Terms: Computer Science - Robotics, Computer Science - Human-Computer Interaction, Computer Science - Machine Learning

Access URL: http://arxiv.org/abs/2407.07636

Learning Multimodal Behaviors from Scratch with Diffusion Policy Gradient

Authors: Li, Zechu, Krohn, Rickmer, Chen, Tao, Ajay, Anurag, Agrawal, Pulkit, Chalvatzaki, Georgia

Subject Terms: Computer Science - Machine Learning

Access URL: http://arxiv.org/abs/2406.00681

Hierarchical Policy Blending as Inference for Reactive Robot Control

Authors: Hansel, Kay, Urain, Julen, Peters, Jan, Chalvatzaki, Georgia

Source: 2023 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2023 IEEE International Conference on. :10181-10188 May, 2023

Relation: 2023 IEEE International Conference on Robotics and Automation (ICRA)

Safe Reinforcement Learning of Dynamic High-Dimensional Robotic Tasks: Navigation, Manipulation, Interaction

Authors: Liu, Puze, Zhang, Kuo, Tateo, Davide, Jauhri, Snehal, Hu, Zhiyuan, Peters, Jan, Chalvatzaki, Georgia

Source: 2023 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2023 IEEE International Conference on. :9449-9456 May, 2023

Relation: 2023 IEEE International Conference on Robotics and Automation (ICRA)

SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion

Authors: Urain, Julen, Funk, Niklas, Peters, Jan, Chalvatzaki, Georgia

Source: 2023 IEEE International Conference on Robotics and Automation (ICRA) Robotics and Automation (ICRA), 2023 IEEE International Conference on. :5923-5930 May, 2023

Relation: 2023 IEEE International Conference on Robotics and Automation (ICRA)

Transition State Clustering for Interaction Segmentation and Learning

Authors: Hahne, Fabian, Prasad, Vignesh, Kshirsagar, Alap, Koert, Dorothea, Stock-Homburg, Ruth Maria, Peters, Jan, Chalvatzaki, Georgia

Subject Terms: Computer Science - Robotics

Access URL: http://arxiv.org/abs/2402.14548

Kinematically Constrained Human-like Bimanual Robot-to-Human Handovers

Authors: Göksu, Yasemin, Correia, Antonio De Almeida, Prasad, Vignesh, Kshirsagar, Alap, Koert, Dorothea, Peters, Jan, Chalvatzaki, Georgia

Subject Terms: Computer Science - Robotics, Computer Science - Human-Computer Interaction, Computer Science - Machine Learning

Access URL: http://arxiv.org/abs/2402.14525

Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation

Authors: Funk, Niklas, Helmut, Erik, Chalvatzaki, Georgia, Calandra, Roberto, Peters, Jan

Subject Terms: Computer Science - Robotics, Computer Science - Machine Learning

Access URL: http://arxiv.org/abs/2312.01236