Search Results - "Kappler, Daniel"

Learning where to search using visual attention by Kloss, Alina, Kappler, Daniel, Lensch, Hendrik P. A., Butz, Martin V., Schaal, Stefan, Bohg, Jeannette

“…One of the central tasks for a household robot is searching for specific objects. It does not only require localizing the target object but also identifying…”
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Predicting grasp success in the real world - A study of quality metrics and human assessment by Rubert, Carlos, Kappler, Daniel, Bohg, Jeannette, Morales, Antonio

“…Grasp quality metrics aim at quantifying different aspects of a grasp configuration between a specific robot hand and object. They produce a numerical value…”
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Real-Time Perception Meets Reactive Motion Generation by Kappler, Daniel, Meier, Franziska, Issac, Jan, Mainprice, Jim, Cifuentes, Cristina Garcia, Wuthrich, Manuel, Berenz, Vincent, Schaal, Stefan, Ratliff, Nathan, Bohg, Jeannette

“…We address the challenging problem of robotic grasping and manipulation in the presence of uncertainty. This uncertainty is due to noisy sensing, inaccurate…”
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Leveraging big data for grasp planning by Kappler, Daniel, Bohg, Jeannette, Schaal, Stefan

“…We propose a new large-scale database containing grasps that are applied to a large set of objects from numerous categories. These grasps are generated in…”
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A new perspective and extension of the Gaussian Filter by Wüthrich, Manuel, Trimpe, Sebastian, Garcia Cifuentes, Cristina, Kappler, Daniel, Schaal, Stefan

“…The Gaussian Filter (GF) is one of the most widely used filtering algorithms; instances are the Extended Kalman Filter, the Unscented Kalman Filter and the…”
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On the relevance of grasp metrics for predicting grasp success by Rubert, Carlos, Kappler, Daniel, Morales, Antonio, Schaal, Stefan, Bohg, Jeannette

“…We aim to reliably predict whether a grasp on a known object is successful before it is executed in the real world. There is an entire suite of grasp metrics…”
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Towards robust online inverse dynamics learning by Meier, Franziska, Kappler, Daniel, Ratliff, Nathan, Schaal, Stefan

“…Learning of inverse dynamics modeling errors is key for compliant or force control when analytical models are only rough approximations. Thus, designing real…”
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A new data source for inverse dynamics learning by Kappler, Daniel, Meier, Franziska, Ratliff, Nathan, Schaal, Stefan

“…Modern robotics is gravitating toward increasingly collaborative human robot interaction. Tools such as acceleration policies can naturally support the…”
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Templates for pre-grasp sliding interactions by Kappler, Daniel, Chang, Lillian Y., Pollard, Nancy S., Asfour, Tamim, Dillmann, Rüdiger

“…In manipulation tasks that require object acquisition, pre-grasp interaction such as sliding adjusts the object in the environment before grasping. This change…”
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Leveraging Contact Forces for Learning to Grasp by Merzic, Hamza, Bogdanovic, Miroslav, Kappler, Daniel, Righetti, Ludovic, Bohg, Jeannette

“…Grasping objects under uncertainty remains an open problem in robotics research. This uncertainty is often due to noisy or partial observations of the object…”
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Action Image Representation: Learning Scalable Deep Grasping Policies with Zero Real World Data by Khansari, Mohi, Kappler, Daniel, Luo, Jianlan, Bingham, Jeff, Kalakrishnan, Mrinal

“…This paper introduces Action Image, a new grasp proposal representation that allows learning an end-to-end deep-grasping policy. Our model achieves 84% grasp…”
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Scalable Multi-Task Imitation Learning with Autonomous Improvement by Singh, Avi, Jang, Eric, Irpan, Alexander, Kappler, Daniel, Dalal, Murtaza, Levinev, Sergey, Khansari, Mohi, Finn, Chelsea

“…While robot learning has demonstrated promising results for enabling robots to automatically acquire new skills, a critical challenge in deploying…”
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Online Learning of a Memory for Learning Rates by Meier, Franziska, Kappler, Daniel, Schaal, Stefan

“…The promise of learning to learn for robotics rests on the hope that by extracting some information about the learning process itself we can speed up…”
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Open-vocabulary Queryable Scene Representations for Real World Planning by Chen, Boyuan, Xia, Fei, Ichter, Brian, Rao, Kanishka, Gopalakrishnan, Keerthana, Ryoo, Michael S., Stone, Austin, Kappler, Daniel

“…Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world…”
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BC-Z: Zero-Shot Task Generalization with Robotic Imitation Learning by Jang, Eric, Irpan, Alex, Khansari, Mohi, Kappler, Daniel, Ebert, Frederik, Lynch, Corey, Levine, Sergey, Finn, Chelsea

“…Conference on Robot Learning (pp. 991-1002). 2022 Jan 11 In this paper, we study the problem of enabling a vision-based robotic manipulation system to…”
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Action Image Representation: Learning Scalable Deep Grasping Policies with Zero Real World Data by Khansari, Mohi, Kappler, Daniel, Luo, Jianlan, Bingham, Jeff, Kalakrishnan, Mrinal

“…This paper introduces Action Image, a new grasp proposal representation that allows learning an end-to-end deep-grasping policy. Our model achieves $84\%$…”
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Open-vocabulary Queryable Scene Representations for Real World Planning by Chen, Boyuan, Xia, Fei, Ichter, Brian, Rao, Kanishka, Gopalakrishnan, Keerthana, Ryoo, Michael S, Stone, Austin, Kappler, Daniel

“…Large language models (LLMs) have unlocked new capabilities of task planning from human instructions. However, prior attempts to apply LLMs to real-world…”
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Robot arm pose estimation by pixel-wise regression of joint angles by Widmaier, Felix, Kappler, Daniel, Schaal, Stefan, Bohg, Jeannette

“…To achieve accurate vision-based control with a robotic arm, a good hand-eye coordination is required. However, knowing the current configuration of the arm…”
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Online Learning of a Memory for Learning Rates by Meier, Franziska, Kappler, Daniel, Schaal, Stefan

“…The promise of learning to learn for robotics rests on the hope that by extracting some information about the learning process itself we can speed up…”
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A case study of a framework for user-centered hardware development based on the aCar electric vehicle project by Soltes, Martin, Kappler, Daniel, Koberstaedt, Sascha, Lienkamp, Markus

“…For specialized vehicles designed for specific target groups, the standard product development process usually leads to inadequate products. The aim of this…”
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