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08/23/2023
NimbRo wins ANA Avatar XPRIZE Immersive Telepresence Competition: Human-Centric Evaluation and Lessons Learned
Robotic avatar systems can enable immersive telepresence with locomotion...
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08/15/2023
The 10 Million ANA Avatar XPRIZE Competition Advanced Immersive Telepresence Systems
The 10M ANA Avatar XPRIZE aimed to create avatar systems that can transp...
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07/31/2023
Deep Reinforcement Learning of Dexterous Pre-grasp Manipulation for Human-like Functional Categorical Grasping
Many objects such as tools and household items can be used only if grasp...
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07/31/2023
Learning Generalizable Tool Use with Non-rigid Grasp-pose Registration
Tool use, a hallmark feature of human intelligence, remains a challengin...
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07/23/2023
Quadrupedal Footstep Planning using Learned Motion Models of a Black-Box Controller
Legged robots are increasingly entering new domains and applications, in...
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07/21/2023
YOLOPose V2: Understanding and Improving Transformer-based 6D Pose Estimation
6D object pose estimation is a crucial prerequisite for autonomous robot...
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04/24/2023
VR Facial Animation for Immersive Telepresence Avatars
VR Facial Animation is necessary in applications requiring clear view of...
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03/13/2023
Audio-based Roughness Sensing and Tactile Feedback for Haptic Perception in Telepresence
Haptic perception is incredibly important for immersive teleoperation of...
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03/07/2023
External Camera-based Mobile Robot Pose Estimation for Collaborative Perception with Smart Edge Sensors
We present an approach for estimating a mobile robot's pose w.r.t. the a...
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03/06/2023
Robust Immersive Telepresence and Mobile Telemanipulation: NimbRo wins ANA Avatar XPRIZE Finals
Robotic avatar systems promise to bridge distances and reduce the need f...
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02/23/2023
Object-Centric Video Prediction via Decoupling of Object Dynamics and Interactions
We propose a novel framework for the task of object-centric video predic...
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02/06/2023
RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-based In-walk Kicks
Beating the human world champions by 2050 is an ambitious goal of the Hu...
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01/30/2023
Rendering the Directional TSDF for Tracking and Multi-Sensor Registration with Point-To-Plane Scale ICP
Dense real-time tracking and mapping from RGB-D images is an important t...
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01/02/2023
Bimanual Telemanipulation with Force and Haptic Feedback through an Anthropomorphic Avatar System
Robotic teleoperation is a key technology for a wide variety of applicat...
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12/19/2022
Lessons from Robot-Assisted Disaster Response Deployments by the German Rescue Robotics Center Task Force
Earthquakes, fire, and floods often cause structural collapses of buildi...
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12/05/2022
Accelerating Interactive Human-like Manipulation Learning with GPU-based Simulation and High-quality Demonstrations
Dexterous manipulation with anthropomorphic robot hands remains a challe...
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11/22/2022
HashSDF: Accurate Implicit Surfaces with Fast Local Features on Permutohedral Lattices
Neural radiance-density field methods have become increasingly popular f...
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11/21/2022
Learning Implicit Probability Distribution Functions for Symmetric Orientation Estimation from RGB Images Without Pose Labels
Object pose estimation is a necessary prerequisite for autonomous roboti...
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11/21/2022
State Estimation for Hybrid Locomotion of Driving-Stepping Quadrupeds
Fast and versatile locomotion can be achieved with wheeled quadruped rob...
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11/21/2022
Object-level 3D Semantic Mapping using a Network of Smart Edge Sensors
Autonomous robots that interact with their environment require a detaile...
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11/20/2022
Efficient Representations of Object Geometry for Reinforcement Learning of Interactive Grasping Policies
Grasping objects of different shapes and sizes - a foundational, effortl...
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10/18/2022
Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles with Label Propagation for Cross-Domain Adaptation
Unmanned aerial vehicles (UAVs) equipped with multiple complementary sen...
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09/15/2022
Online Marker-free Extrinsic Camera Calibration using Person Keypoint Detections
Calibration of multi-camera systems, i.e. determining the relative poses...
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08/11/2022
Predictive Angular Potential Field-based Obstacle Avoidance for Dynamic UAV Flights
In recent years, unmanned aerial vehicles (UAVs) are used for numerous i...
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08/09/2022
Direct Centroidal Control for Balanced Humanoid Locomotion
We present an integrated approach to locomotion and balancing of humanoi...
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07/28/2022
Neural Strands: Learning Hair Geometry and Appearance from Multi-View Images
We present Neural Strands, a novel learning framework for modeling accur...
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06/02/2022
Predicting Physical Object Properties from Video
We present a novel approach to estimating physical properties of objects...
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05/23/2022
ConvPoseCNN2: Prediction and Refinement of Dense 6D Object Poses
Object pose estimation is a key perceptual capability in robotics. We pr...
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05/05/2022
YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regression
6D object pose estimation is a crucial prerequisite for autonomous robot...
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05/04/2022
Two-step Planning of Dynamic UAV Trajectories using Iterative δ-Spaces
UAV trajectory planning is often done in a two-step approach, where a lo...
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05/03/2022
3D Semantic Scene Perception using Distributed Smart Edge Sensors
We present a system for 3D semantic scene perception consisting of a net...
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03/29/2022
Abstract Flow for Temporal Semantic Segmentation on the Permutohedral Lattice
Semantic segmentation is a core ability required by autonomous agents, a...
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03/17/2022
Synthetic-to-Real Domain Adaptation using Contrastive Unpaired Translation
The usefulness of deep learning models in robotics is largely dependent ...
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03/17/2022
Video Prediction at Multiple Scales with Hierarchical Recurrent Networks
Autonomous systems not only need to understand their current environment...
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03/14/2022
Real-Robot Deep Reinforcement Learning: Improving Trajectory Tracking of Flexible-Joint Manipulator with Reference Correction
Flexible-joint manipulators are governed by complex nonlinear dynamics, ...
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01/18/2022
A Study on the Ambiguity in Human Annotation of German Oral History Interviews for Perceived Emotion Recognition and Sentiment Analysis
For research in audiovisual interview archives often it is not only of i...
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01/18/2022
Human and Automatic Speech Recognition Performance on German Oral History Interviews
Automatic speech recognition systems have accomplished remarkable improv...
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01/11/2022
Target Chase, Wall Building, and Fire Fighting: Autonomous UAVs of Team NimbRo at MBZIRC 2020
The Mohamed Bin Zayed International Robotics Challenge (MBZIRC) 2020 pos...
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12/06/2021
Flexible-Joint Manipulator Trajectory Tracking with Learned Two-Stage Model employing One-Step Future Prediction
Flexible-joint manipulators are frequently used for increased safety dur...
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11/18/2021
Semantic Interaction in Augmented Reality Environments for Microsoft HoloLens
Augmented Reality is a promising technique for human-machine interaction...
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10/12/2021
Fourier-based Video Prediction through Relational Object Motion
The ability to predict future outcomes conditioned on observed video fra...
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10/07/2021
Unsupervised Image Decomposition with Phase-Correlation Networks
The ability to decompose scenes into their object components is a desire...
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09/28/2021
NimbRo Avatar: Interactive Immersive Telepresence with Force-Feedback Telemanipulation
Robotic avatars promise immersive teleoperation with human-like manipula...
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09/27/2021
Bimanual Telemanipulation with Force and Haptic Feedback and Predictive Limit Avoidance
Robotic teleoperation is a key technology for a wide variety of applicat...
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09/23/2021
Low-Latency Immersive 6D Televisualization with Spherical Rendering
We present a method for real-time stereo scene capture and remote VR vis...
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09/22/2021
T6D-Direct: Transformers for Multi-Object 6D Pose Direct Regression
6D pose estimation is the task of predicting the translation and orienta...
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08/18/2021
Rendering and Tracking the Directional TSDF: Modeling Surface Orientation for Coherent Maps
Dense real-time tracking and mapping from RGB-D images is an important t...
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08/14/2021
Real-Time Multi-Modal Semantic Fusion on Unmanned Aerial Vehicles
Unmanned aerial vehicles (UAVs) equipped with multiple complementary sen...
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08/09/2021
LatticeNet: Fast Spatio-Temporal Point Cloud Segmentation Using Permutohedral Lattices
Deep convolutional neural networks (CNNs) have shown outstanding perform...
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08/09/2021