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08/27/2023
Uncertainty-aware Risk Assessment of Robotic Systems via Importance Sampling
In this paper, we introduce a probabilistic approach to risk assessment ...
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02/21/2023
Safety Evaluation of Robot Systems via Uncertainty Quantification
In this paper, we present an approach for quantifying the propagated unc...
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09/26/2022
Hazard Analysis of Collaborative Automation Systems: A Two-layer Approach based on Supervisory Control and Simulation
Safety critical systems are typically subjected to hazard analysis befor...
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09/01/2022
Uncertainty Estimation for Safe Human-Robot Collaboration using Conservation Measures
We present an online and data-driven uncertainty quantification method t...
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08/22/2022
SpeedFolding: Learning Efficient Bimanual Folding of Garments
Folding garments reliably and efficiently is a long standing challenge i...
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03/03/2022
Learning Time-optimized Path Tracking with or without Sensory Feedback
In this paper, we present a learning-based approach that allows a robot ...
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11/29/2021
Testing Robot System Safety by creating Hazardous Human Worker Behavior in Simulation
We introduce a novel simulation-based approach to identify hazards that ...
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07/06/2021
Learning a Generative Transition Model for Uncertainty-Aware Robotic Manipulation
Robot learning of real-world manipulation tasks remains challenging and ...
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05/11/2021
Jerk-limited Real-time Trajectory Generation with Arbitrary Target States
We present Ruckig, an algorithm for Online Trajectory Generation (OTG) r...
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03/23/2021
Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives
Robot learning is often simplified to planar manipulation due to its dat...
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03/05/2021
Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors
This paper presents an approach to learn online generation of collision-...
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03/01/2021
Virtual Adversarial Humans finding Hazards in Robot Workplaces
During the planning phase of industrial robot workplaces, hazard analyse...
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11/20/2020
Simulation-based Testing for Early Safety-Validation of Robot Systems
Industrial human-robot collaborative systems must be validated thoroughl...
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11/01/2020
Learning Robot Trajectories subject to Kinematic Joint Constraints
We present an approach to learn fast and dynamic robot motions without e...
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06/15/2020
Self-supervised Learning for Precise Pick-and-place without Object Model
Flexible pick-and-place is a fundamental yet challenging task within rob...
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06/05/2020
TrueRMA: Learning Fast and Smooth Robot Trajectories with Recursive Midpoint Adaptations in Cartesian Space
We present TrueRMA, a data-efficient, model-free method to learn cost-op...
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05/30/2020
TrueAdapt: Learning Smooth Online Trajectory Adaptation with Bounded Jerk, Acceleration and Velocity in Joint Space
We present TrueAdapt, a model-free method to learn online adaptations of...
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08/13/2019
General Hand Guidance Framework using Microsoft HoloLens
Hand guidance emerged from the safety requirements for collaborative rob...
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07/25/2019
Robot Learning of Shifting Objects for Grasping in Cluttered Environments
Robotic grasping in cluttered environments is often infeasible due to ob...
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04/04/2019
Referencing between a Head-Mounted Device and Robotic Manipulators
Having a precise and robust transformation between the robot coordinate ...
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03/01/2019
Improving Data Efficiency of Self-supervised Learning for Robotic Grasping
Given the task of learning robotic grasping solely based on a depth came...
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01/15/2019