MIRMI Aktuelles
IROS 2024: TUM MIRMI glänzt mit 64 Beiträgen
NEWS, Community, Forschung |
Wichtigste Themen in diesem Jahr sind Reinforcement Learning, Deep Learning for Visual Perception sowie Motion and Path Planning. Beeindruckend ist die hohe Zahl interdisziplinärer Beiträge: Auf der Liste stehen 13 neue Publikationen mit mehr als zwei verschiedenen Autorenteams unterschiedlicher Lehrstühle. Das zeigt den zunehmenden Bedarf an Zusammenarbeit über verschiedene wissenschaftliche Disziplinen hinweg, auch um komplexe Herausforderungen in Robotik und Künstlicher Intelligenz zu bewältigen.
Damit unterstreicht TUM MIRMI seine globale Bedeutung. Ziel des Instituts ist es, sowohl theoretische als auch praktische Aspekte der Robotik voranzutreiben und damit Maßstäbe für zukünftige Entwicklungen in intelligenten Systemen zu setzen. TUM MIRMI überschreitet Grenzen, treibt Innovationen voran und fördert interdisziplinäre Forschung.
Ein genauerer Blick auf die Beiträge
Dies ist eine alphabetisch nach den Namen der beteiligten Principal Investigators (PIs) geordnete Liste der Beiträge von TUM MIRMI.
Papers | Alle Autoren/Organisatoren | TUM MIRMI PIs | |
| 1 | Three-Dimensional Vehicle Dynamics State Estimation for High-Speed Race Cars under Varying Signal Quality | Goblirsch, Sven; Weinmann, Marcel | Betz, Johannes |
| 2 | Adaptive Stochastic Nonlinear Model Predictive Control with Look-Ahead Deep Reinforcement Learning for Autonomous Vehicle Motion Control | Zarrouki, Baha; Wang, Chenyang | Betz, Johannes |
| 3 | TUM CONTROL: Open Source Controller-Vehicle in Loop Simulation Framework for ultra-Rapid prototyping in Python | Zarrouki, Baha | Betz, Johannes |
| 4 | Deep Reinforcement Learning Driven Adaptive Stochastic and Robust NMPCs | Zarrouki, Baha | Betz, Johannes |
| 5 | Safe Deep Reinforcement Learning (RL) Agent Adapts the Cost Function Weights of a Weights-Varying MPC (WMPC) | Zarrouki, Baha | Betz, Johannes |
| 6 | An Adaptive Robotic Exoskeleton for Comprehensive Force-Controlled Hand Rehabilitation | Wilhelm, Nikolas Jakob; Schaack, Victor Gilles; Leisching, Annick; Micheler, Carina M. | Burgkart, Rainer; Haddadin, Sami |
| 7 | Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand | Kirschner, Robin Jeanne; Yang, Jinyu; Elshani, Edonis; Micheler, Carina M.; Leibbrand, Tobias; Müller, Dirk; Glowalla, Claudio; Rajaei, Nader | Burgkart, Rainer; Haddadin, Sami |
| 8 | Towards Unconstrained Collision Injury Protection Data Sets: Initial Surrogate Experiments for the Human Hand | Kirschner, Robin Jeanne; Yang, Jinyu; Elshani, Edonis; Micheler, Carina M.; Leibbrand, Tobias; Müller, Dirk; Glowalla, Claudio; Rajaei, Nader | Burgkart, Rainer; Haddadin, Sami |
| 9 | Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects | Pitz, Johannes; Röstel, Lennart; Sievers, Leon; Bäuml, Berthold | Burschka, Darius |
| 10 | A Hybrid Human Tracking System Using UWB Sensors and Monocular Visual Data Fusion for Human Following Robots | Zhang, Dingzhi; Birner, Lukas; Pancheri, Felix; Rehekampff, Christoph | Burschka, Darius; Lüth, Tim |
| 11 | RaceMOP: Mapless Online Path Planning for Multi-Agent Autonomous Racing Using Residual Policy Learning | Trumpp, Raphael; Javanmardi, Ehsan. Nakazato; Jin, Tsukada, Manabu | Caccamo, Marco |
| 12 | Equivariant Ensembles and Regularization for Reinforcement Learning in Map-Based Path Planning | Theile, Mirco; Cao, Hongpeng; Sangiovanni Vincentelli, Alberto | Caccamo, Marco |
| 13 | A Tactile Lightweight Exoskeleton for Teleoperation: Design and Control Performance | Forouhar, Moein; Sadeghian, Hamid; Pérez-Suay, Daniel; Naceri, Abdeldjallil | Haddadin, Sami |
| 14 | Functional Kinematic and Kinetic Requirements of the Upper Limb During Activities of Daily Living: A Recommendation on Necessary Joint Capabilities for Prosthetic Arms | Herneth, Christopher; Ganguly, Amartya | Haddadin, Sami |
| 15 | Improved Contact Stability for Admittance Control of Industrial Robots with Inverse Model Compensation | Samuel, Kangwagye; Haninger, Kevin; Oh, Sehoon | Haddadin, Sami |
| 16 | Enhancing Robustness in Manipulability Assessment: The Pseudo-Ellipsoid Approach | Shahriari, Erfan; Peper, Kim Kristin; Hoffmann, Matej | Haddadin, Sami |
| 17 | Visuo-Tactile Exploration of Unknown Rigid 3D Curvatures by Vision-Augmented Unified Force-Impedance Control | Karacan, Kübra; Zhang, Anran; Sadeghian, Hamid; Wu, Fan | Haddadin, Sami |
| 18 | A Novel Variable Stiffness Suspension System for Improved Stability and Control of Tactile Mobile Manipulators | Kuhn, Sebastian; Yildirim, Mehmet Can; Pozo Fortunić, Edmundo; Karacan, Kübra; Swikir, Abdalla | Haddadin, Sami |
| 19 | OPENGRASP-LITE Version 1.0: A Tactile Artificial Hand with a Compliant Linkage Mechanism | Groß, Sonja; Ratzel, Michael; Welte, Edgar; Hidalgo Carvajal, Diego Xavier; Chen, Lingyun; Pozo Fortunić, Edmundo; Ganguly, Amartya; Swikir, Abdalla | Haddadin, Sami |
| 20 | Generating Force Vectors from Projective Truncated Signed Distance Fields for Collision Avoidance and Haptic Feedback | Bien, Seongjin; Naceri, Abdeldjallil; Figueredo, Luis | Haddadin, Sami |
| 21 | Optimizing Interaction Space: Enlarging the Capture Volume for Multiple Portable Motion Capture Devices | Fatoni, Muhammad Hilman; Herneth, Christopher; Li, Junnan; Budiman, Fajar; Ganguly, Amartya | Haddadin, Sami |
| 22 | A Scalable Platform for Robot Learning and Physical Skill Data Collection | Schneider, Samuel; Wu, Yansong; Wu, Fan; Johannsmeier, Lars | Haddadin, Sami |
| 23 | Enhanced Dexterity Maps (EDM): A New Map for Manipulator Capability Analysis | Yao, Haowen; Laha, Riddhiman; Figueredo, Luis | Haddadin, Sami |
| 24 | The Fingertip Manipulability Assessment of Tendon-Driven Multi-Fingered Hands | Li, Junnan, Ganguly, Amartya; Figueredo, Luis | Haddadin, Sami |
| 25 | Demonstration to Adaptation: A User-Guided Framework for Sequential and Real-Time Planning | Cai, Kuanqi; Laha, Riddhiman; Gong, Yuhe; Chen, Lingyun; Zhang, Liding; Figueredo, Luis | Haddadin, Sami |
| 26 | A General Formulation for Path Constrained Time-Optimized Trajectory Planning with Environmental and Object Contacts | Mahalingam, Dasharadhan; Patankar, Aditya; Laha, Riddhiman; Lakshminarayanan, Srinivasan; Chakraborty, Nilanjan | Haddadin, Sami |
| 27 | Trajectory Planning for Non-Prehensile Object Transportation | Chen, Lingyun; Yu, Haoyu; Zhang, Liding; Naceri, Abdeldjallil; Swikir, Abdalla | Haddadin, Sami |
| 28 | An Optimization Based Scheme for Real-Time Transfer of Human Arm Motion to Robot Arm | Yang, Zhelin; Bien, Seongjin; Nertinger, Simone; Naceri, Abdeldjallil | Haddadin, Sami |
| 29 | Object Augmentation Algorithm: Computing Virtual Object Motion and Object Induced Interaction Wrench from Optical Markers | Herneth, Christopher; Li, Junnan; Fatoni, Muhammad Hilman; Ganguly, Amartya | Haddadin, Sami |
| 30 | Flexible Informed Trees (FIT*): Adaptive Batch-Size Approach in Informed Sampling-Based Path Planning | Zhang, Liding; Bing, Zhenshan; Chen, Kejia; Chen, Lingyun; Cai, Kuanqi; Zhang, Yu; Wu, Fan; Krumbholz, Peter; Yuan, Zhilin | Haddadin, Sami; Knoll, Alois |
| 31 | Elliptical K-Nearest Neighbors - Path Optimization Via Coulomb's Law and Invalid Vertices in C-Space Obstacles | Zhang, Liding; Bing, Zhenshan; Zhang, Yu; Cai, Kuanqi; Chen, Lingyun; Wu, Fan | Haddadin, Sami; Knoll, Alois |
| 32 | Ontology Based AI Planning and Scheduling for Robotic Assembly | Zhao, Jingyun; Ao, Jicong; Wu, Yansong; Zhang, Liding; Fandi, Bi; Hujo, Dominik; Bing, Zhenshan; Wu, Fan | Haddadin, Sami; Knoll, Alois; Vogel-Heuser, Birgit |
| 33 | Continual Domain Randomization | Josifovski, Josip; Auddy, Sayantan; Malmir, Mohammadhossein; Piater, Justus; Navarro-Guerrero, Nicolás | Knoll, Alois |
| 34 | Lightweight Fisheye Object Detection Network with Transformer-Based Feature Enhancement for Autonomous Driving | Cao, Hu; Li, Yanpeng; Liu, Yinlong; Li, Xinyi; Chen, Guang | Knoll, Alois |
| 35 | EC-IoU: Orienting Safety for Object Detectors Via Ego-Centric Intersection-Over-Union | Liao, Brian Hsuan-Cheng; Cheng, Chih-Hong; Esen, Hasan | Knoll, Alois |
| 36 | PCDepth: Pattern-Based Complementary Learning for Monocular Depth Estimation by Best of Both Worlds | Liu, Haotian; Qu, Sanqing; Lu, Fan; Bu, Zongtao; Roehrbein, Florian; Chen, Guang | Knoll, Alois |
| 37 | Online Efficient Safety-Critical Control for Mobile Robots in Unknown Dynamic Multi-Obstacle Environments | Zhang, Yu; Tian, Guangyao; Wen, Long; Yao, Xiangtong; Zhang, Liding; Bing, Zhenshan; He, Wei | Knoll, Alois |
| 38 | IN-Sight: Interactive Navigation through Sight | Schoch, Philipp; Yang, Fan; Ma, Yuntao; Hutter, Marco; Leboutet, Quentin | Leutenegger, Stefan |
| 39 | Online Tree Reconstruction and Forest Inventory on a Mobile Robotic System | Freißmuth, Leonard; Mattamala, Matias; Chebrolu, Nived; Schaefer, Simon; Fallon, Maurice | Leutenegger, Stefan |
| 40 | GMMCalib: Extrinsic Calibration of LiDAR Sensors Using GMM-Based Joint Registration | Tahiraj, Ilir; Fent, Felix; Hafemann, Philipp; Ye, Egon | Lienkamp, Markus |
| 41 | High-Fidelity SLAM Using Gaussian Splatting with Rendering-Guided Densification and Regularized Optimization | Sun, Shuo; Mielle, Malcolm; Magnusson, Martin | Lilienthal, Achim |
| 42 | Advanced Robotics and Visualization for micrO Surgery. (ARVOS-IROS 2024) | Mathis-Ullrich, Franziska; Bergeles, Christos; Kwok, Ka-Wai; Faridpooya, Kourosh; Iordachita, Ioan Iulian | Nasseri, Ali |
| 43 | An Online RCM Adjusting System for Robot-Assisted Retinal Surgeries | Xia, Jun; Wang, Ting; Ni, Huanqi; Li, Yanlin; Chen, Ruoxi; Nasseri, M. Ali; Lin, Haotian; Huang, Kai | Nasseri, Ali |
| 44 | EyeLS: Shadow-Guided Instrument Landing System for Intraocular Target Approaching in Robotic Eye Surgery | Yang, Junjie; Zhao, Zhihao; Shen, Siyuan; Zapp, Daniel; Maier, Mathias; Huang, Kai | Nasseri, Ali; Navab, Nassir |
| 45 | Shadow Maintenance for Automatic Light-Probe Control in Ophthalmic Surgeries Using Only 2D Information | Yang, Junjie; Inagaki, Satoshi; Zhao, Zhihao; Zapp, Daniel; Maier, Mathias; Huang, Kai | Nasseri, Ali; Navab, Nassir |
| 46 | Intraocular Reflection Modeling and Avoidance Planning in Image-Guided Ophthalmic Surgeries | Yang, Junjie; Zhao, Zhihao; Zhao, Yinzheng; Zapp, Daniel; Maier, Mathias; Huang, Kai | Nasseri, Ali; Navab, Nassir |
| 47 | CathFlow: Self-Supervised Segmentation of Catheters in Interventional Ultrasound Using Optical Flow and Transformers | Ranne, Alex; Kuang, Liming; Velikova, Yordanka; Rodriguez y Baena, Ferdinando | Navab, Nassir |
| 48 | Robot-Assisted Deep Venous Thrombosis Ultrasound Examination Using Virtual Fixture (I) | Huang, Dianye; Yang, Chenguang; Zhou, Mingchuan; Karlas, Angelos; Jiang, Zhongliang | Navab, Nassir |
| 49 | Neural Semantic Map-Learning for Autonomous Vehicles | Herb, Markus | Navab, Nassir; Tombari, Federico |
| 50 | DNS-SLAM: Dense Neural Semantic-Informed SLAM | Li, Kunyi; Niemeyer, Michael | Navab, Nassir; Tombari, Federico |
| 51 | Bio-Inspired, Biomimetics, and Biohybrid (Cyborg) Systems | Li, Yao; Sato, Hirotaka; Raman, Ritu; Li, Liang; Vo-Doan, T. Thang; Do, Thanh Nho; Umezu, Shinjiro; Raman, Barani; Fukuda, Toshio; Valdivia y Alvarado, Pablo; Latif, Tahmid; Shoji, Kan; Milana, Edoardo; Xu, Nicole; Zhang, Hongying; Zarrouk, David; Mouthuy, Pierre-Alexis; Shi, Qing; Nenggan, Zheng | Piazza, Cristina |
| 52 | Differentiable Collision-Free Parametric Corridors | Arrizabalaga, Jon; Manchester, Zachary | Ryll, Markus |
| 53 | Static Modeling of the Stiffness and Contact Forces of Rolling Element Eccentric Drives for Use in Robotic Drive Systems | Fritsch, Simon; Landler, Stefan; Otto, Michael | Stahl, Karsten; Vogel-Heuser, Birgit, Zimmermann, Markus |
| 54 | Sim-To-Real Domain Shift in Online Action Detection | Patsch, Constantin; Torjmene, Wael; Zakour, Marsil; Wu, Yuankai; Salihu, Driton | Steinbach, Eckehard |
| 55 | Rethinking 3D Geometric Object Features for Enhancing Skeleton-Based Action Recognition | Wu, Yuankai; Wang, Chi; Salihu, Driton; Patsch, Constantin; Zakour, Marsil | Steinbach, Eckehard |
| 56 | Enhanced Robotic Assistance for Human Activities through Human-Object Interaction Segment Prediction | Wu, Yuankai; Messaoud, Rayene; Hildebrandt, Arne-Christoph; Baldini, Marco; Salihu, Driton; Patsch, Constantin | Steinbach, Eckehard |
| 57 | Long-Term Perception for Autonomy in Dynamic Human-Centric Environments: What Do Robots Need? | Schmid, Lukas M.; Talak, Rajat; Zheng, Jianhao; Andersson, Olov; Oleynikova, Helen; Park, Jong Jin; Wald, Johanna; Siegwart, Roland; Carlone, Luca | Tombari, Federico |
| 58 | Zero123-6D: Zero-Shot Novel View Synthesis for RGB Category-Level 6D Pose Estimation | Di Felice, Francesco; Remus, Alberto; Gasperini, Stefano; Busam, Benjamin; Ott, Lionel; Siegwart, Roland; Avizzano, Carlo Alberto | Tombari, Federico |
Workshops, Wettbewerbe und Tutorien | Alle Autoren/Organisatoren | TUM MIRMI PIs | |
| 1 | Workshop on 14th Planning, Perception and Navigation for Intelligent Vehicles | Zhao, Huijing; Ang Jr, Marcelo H; Yue, Yufeng | Betz, Johannes |
| 2 | Safety of Intelligent and Autonomous Vehicles: Formal Methods vs. Machine Learning Approaches for Reliable Navigation (SIAV-FM2L) | Adouane, Lounis; Martinet, Philippe; Tsourdos, Antonios; Zhang, Xuebo | Betz, Johannes |
| 3 | Robot Safety in Times of AI: Data, Decision, and Multimodal Interaction | Rajaei, Nader; Secchi, Cristian; Hoffmann, Matej Czech; Abdolshah, Saeed; Mansfeld, Nico; Kirschner, Robin Jeanne | Lilienthal, Achim |
| 4 | The 2nd Workshop on Formal Methods Techniques in Robotics Systems: Design and Control | Swikir, Abdalla; Abu-Dakka, Fares; Jagtap, Pushpak; Ozay, Necmiye; Leung, Karen | Haddadin, Sami |
| 5 | euROBIN Manipulation Skill Versatility Challenge "MSVC" Competition | So, Peter; Swikir, Abdalla | Haddadin, Sami |
| 6 | Foundations of interaction control for contact robots: Energy-based methods and interactive learning | Etienne burdet; Abdalla Swikir; Erfan Shahriari | Haddadin, Sami |