Tamim Asfour

Karlsruhe Institute of Technology

収録論文 64本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 運転用視覚言語行動モデルにおける計画トークンの深さ方向の探索と刈り込み
  VLA2026/8/8

  運転用VLAモデルで、計画トークンが各デコーダ層でどの程度の情報を持つかを調べ、初期層で意味情報が線形分離可能であることを示し、後半層を刈り込んでも性能が保てることを発見した。

• Depth-Wise Probing and Pruning of the Planning Token in a Driving Vision-Language-Action Model
  2026/8/1
• Learning to Forget -- Hierarchical Episodic Memory for Lifelong Robot Deployment
  2026/4/1
• ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning
  2026/3/1
• Unified Learning of Temporal Task Structure and Action Timing for Bimanual Robot Manipulation
  2026/3/1
• Intuitive Programming, Adaptive Task Planning, and Dynamic Role Allocation in Human-Robot Collaboration
  2025/11/1
• Taxonomy-aware Dynamic Motion Generation on Hyperbolic Manifolds
  2025/9/1
• Diffusion-Based Impedance Learning for Contact-Rich Manipulation Tasks
  2025/9/1
• MoRe-ERL: Learning Motion Residuals using Episodic Reinforcement Learning
  2025/8/1
• CLEVER: Stream-based Active Learning for Robust Semantic Perception from Human Instructions
  2025/7/1
• Geometric Contact Flows: Contactomorphisms for Dynamics and Control
  2025/6/1
• Adaptive Domain Modeling with Language Models: A Multi-Agent Approach to Task Planning
  2025/6/1
• Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles
  2024/11/1
• Learning Spatial Bimanual Action Models Based on Affordance Regions and Human Demonstrations
  2024/10/1
• Force Myography based Torque Estimation in Human Knee and Ankle Joints
  2024/9/1
• Episodic Memory Verbalization using Hierarchical Representations of Life-Long Robot Experience
  2024/9/1
• PerAct2: Benchmarking and Learning for Robotic Bimanual Manipulation Tasks
  2024/7/1
• Influence of Motion Restrictions in an Ankle Exoskeleton on Gait Kinematics and Stability in Straight Walking
  2024/6/1
• Visual Imitation Learning of Task-Oriented Object Grasping and Rearrangement
  2024/3/1
• Learning Symbolic and Subsymbolic Temporal Task Constraints from Bimanual Human Demonstrations
  2024/3/1
• KITchen: A Real-World Benchmark and Dataset for 6D Object Pose Estimation in Kitchen Environments
  2024/3/1
• Bi-KVIL: Keypoints-based Visual Imitation Learning of Bimanual Manipulation Tasks
  2024/3/1
• Riemannian Flow Matching Policy for Robot Motion Learning
  2024/3/1
• AutoGPT+P: Affordance-based Task Planning with Large Language Models
  2024/2/1
• MAkEable: Memory-centered and Affordance-based Task Execution Framework for Transferable Mobile Manipulation Skills
  2024/1/1
• How to Raise a Robot -- A Case for Neuro-Symbolic AI in Constrained Task Planning for Humanoid Assistive Robots
  2023/12/1
• Incremental Learning of Full-Pose Via-Point Movement Primitives on Riemannian Manifolds
  2023/12/1
• Transfer Learning in Robotics: An Upcoming Breakthrough? A Review of Promises and Challenges
  2023/11/1
• Reinforcement Learning for Safety Testing: Lessons from A Mobile Robot Case Study
  2023/11/1
• Unraveling the Single Tangent Space Fallacy: An Analysis and Clarification for Applying Riemannian Geometry in Robot Learning
  2023/10/1
• Incremental Learning of Humanoid Robot Behavior from Natural Interaction and Large Language Models
  2023/9/1
• Uncertainty-aware Risk Assessment of Robotic Systems via Importance Sampling
  2023/8/1
• On the Design of Region-Avoiding Metrics for Collision-Safe Motion Generation on Riemannian Manifolds
  2023/7/1
• Interactive and Incremental Learning of Spatial Object Relations from Human Demonstrations
  2023/5/1
• Virtual Reality via Object Pose Estimation and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities
  2022/10/1
• Bringing motion taxonomies to continuous domains via GPLVM on hyperbolic manifolds
  2022/10/1
• K-VIL: Keypoints-based Visual Imitation Learning
  2022/9/1
• Riemannian geometry as a unifying theory for robot motion learning and control
  2022/9/1
• A Riemannian Take on Human Motion Analysis and Retargeting
  2022/8/1
• SpeedFolding: Learning Efficient Bimanual Folding of Garments
  2022/8/1
• Deep Learning Approaches to Grasp Synthesis: A Review
  2022/7/1
• A Memory System of a Robot Cognitive Architecture and its Implementation in ArmarX
  2022/6/1
• Learning to Sequence and Blend Robot Skills via Differentiable Optimization
  2022/6/1
• Geometry-aware Bayesian Optimization in Robotics using Riemannian Mat\'ern Kernels
  2021/11/1
• Graph-based Task-specific Prediction Models for Interactions between Deformable and Rigid Objects
  2021/3/1
• Object and Relation Centric Representations for Push Effect Prediction
  2021/2/1
• Learning to Shift Attention for Motion Generation
  2021/2/1
• Uncertainty-aware Contact-safe Model-based Reinforcement Learning
  2020/10/1
• A Soft Humanoid Hand with In-Finger Visual Perception
  2020/6/1
• Learning Compliance Adaptation in Contact-Rich Manipulation
  2020/5/1
• Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks
  2019/8/1
• A Framework for Evaluating Motion Segmentation Algorithms
  2018/10/1
• Introducing the Simulated Flying Shapes and Simulated Planar Manipulator Datasets
  2018/7/1
• Deep Episodic Memory: Encoding, Recalling, and Predicting Episodic Experiences for Robot Action Execution
  2018/1/1
• Planning High-Quality Grasps using Mean Curvature Object Skeletons
  2017/10/1
• Parameter Space Noise for Exploration
  2017/6/1
• Learning a bidirectional mapping between human whole-body motion and natural language using deep recurrent neural networks
  2017/5/1
• Multimodal Gaze Stabilization of a Humanoid Robot based on Reafferences
  2017/3/1
• The KIT Motion-Language Dataset
  2016/7/1
• Analyzing Whole-Body Pose Transitions in Multi-Contact Motions
  2015/7/1
• A Whole-Body Pose Taxonomy for Loco-Manipulation Tasks
  2015/3/1
• Resource-Aware Programming for Robotic Vision
  2014/5/1
• Resource Prediction for Humanoid Robots
  2014/5/1
• Data-Driven Grasp Synthesis - A Survey
  2013/9/1