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Machine Learning for Robotics
TUM School of Computation, Information and Technology
Technical University of Munich

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Informatik IX

Professorship for Machine Learning for Robotics

Smart Robotics Lab

Boltzmannstrasse 3
85748 Garching info@srl.cit.tum.de

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news [2024/02/08 11:24]
Hanzhi Chen 		news [2024/05/07 11:23] (current)
Prof. Dr. Stefan Leutenegger
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 ====== News ====== ====== News ======
 +===== 13/05/2024: 4 Papers at ICRA 2024 =====
 +We will be presenting 4 papers at ICRA 2024:
 +
 +  * **Anthropomorphic Grasping With Neural Object Shape Completion** We introduce a novel approach harnessing object-centric spatial scene understanding to enhance anthropomorphic manipulation. Our framework accurately determines object pose and full geometry from partial observations, utilizing neural completion and local shape confidence. This greatly improves robotic grasping and manipulation skills of previously unseen objects. [[https://youtu.be/-zgoqaRQde0 | Video]] [[https://arxiv.org/abs/2311.02510|Paper]] - 16:30-18:00, Paper TuCT27-NT.6 \\ {{youtube>-zgoqaRQde0?medium}}
 +  * **FuncGrasp: Learning Object-Centric Neural Grasp Functions from Single Annotated Example Object** We present a framework that can infer dense yet reliable grasp configurations for unseen objects. Unlike previous works that only transfer a set of grasp poses, our approach is able to transfer configurations as an object-centric continuous grasp function across varying instances. Our framework significantly improves grasping reliability over baselines. [[https://www.youtube.com/watch?v=sZ0u2ZpgpNc&feature=youtu.be|Video]] [[https://arxiv.org/abs/2402.05644|Paper]] - 10:30-12:00, Paper TuAT27-NT.7 \\ {{youtube>sZ0u2ZpgpNc?medium}}
 +  * **Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments** We propose a way to intuitively, easily, and safely teleoperate drones in entirely unknown environments by closing the loop between control, VI-SLAM, and 3D mapping using exclusively on-board computation. [[https://www.youtube.com/watch?v=kIatSfeJetY&ab_channel=LearningSystemsandRoboticsLab|Video]] [[https://arxiv.org/abs/2403.04331|Paper]] - 16:30-18:00, Paper ThCT23-NT.1 \\ {{youtube>kIatSfeJetY?medium}}
 +  * **Tightly-Coupled LiDAR-Visual-Inertial SLAM and Large-Scale Volumetric Occupancy Mapping** We present a fully tightly-coupled LiDAR-Visual-Inertial SLAM system and 3D mapping framework applying local submapping strategies to achieve scalability to large-scale environments. A novel and correspondence-free, inherently probabilistic, formulation of LiDAR residuals is introduced, expressed only in terms of the occupancy fields and its respective gradients. These residuals can be added to a factor graph optimisation problem, either as frame-to-map factors for the live estimates or as map-to-map factors aligning the submaps with respect to one another. [[https://arxiv.org/abs/2403.02280|Paper]] [[https://youtu.be/MCs0S29NkCM|Video]] - 16:30-18:00, Paper ThCT26-NT.2 \\ {{youtube>MCs0S29NkCM?medium}}
 +
 +===== 01/04/2024: Yannick Burkhardt joining SRL@TUM =====
 +Welcome, Yannick, who is starting as a PhD student at the lab!
 +
 ===== New EU Project - AUTOASSESS ===== ===== New EU Project - AUTOASSESS =====
 We are joining forces with other university labs and industry partners to leverage AI and robotics to perform vessel inspections, removing human surveyors from dangerous and dirty confined areas. For more information: https://autoassess.eu/ We are joining forces with other university labs and industry partners to leverage AI and robotics to perform vessel inspections, removing human surveyors from dangerous and dirty confined areas. For more information: https://autoassess.eu/
 +
 +===== 22/03/2024: Lab Retreat =====
 +Greetings from our lab trip in Garmisch! We had interesting discussions about the future of robotics and research ethics and were porting our stack to ROS2.
 +{{ :news:2024-03-22_20.18.36.jpg?300|}}
 +{{:news:2024-03-26_21.18.37.jpg?300|}}
  
 ===== 31/01/2024: 3 ICRA Papers accepted ===== ===== 31/01/2024: 3 ICRA Papers accepted =====
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 Paper: https://arxiv.org/abs/2311.02510 Paper: https://arxiv.org/abs/2311.02510
 +
 +===== 23/10/2023: Jiaxin Wei joining SRL@TUM =====
 +Welcome, Jiaxin, who is starting as a PhD student at the lab!
 +
 +===== 04/09/2023: Jaehyung Jung joining SRL@TUM =====
 +Welcome, Jaehyung, who is starting as a PostDoc at the lab!
  
 ===== 30/06/2023: 3 IROS Papers accepted ===== ===== 30/06/2023: 3 IROS Papers accepted =====

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Informatik IX

Professorship for Machine Learning for Robotics

Smart Robotics Lab

Boltzmannstrasse 3
85748 Garching info@srl.cit.tum.de

Follow us on:
SRL  CVG   DVL