Sophie Lueth

PhD student @ PEARL lab TU Darmstadt

[Sophie Lueth @SophieLueth]

Come by my pink poster tmrw at the WCBM workshop at CoRL!

I'll present our work "Augmented Action-space Whole-Body Teleoperation of Mobile Manipulation" with @GeorgiaChal, in which we enable multi-contact control for complex household tasks.

Website: https://t.co/zNsU2qseEi

[Snehal Jauhri @SnehalJauhri]

We will present our conference paper "ActPerMoMa: Active Perceptive Motion Generation for Mobile Manipulation" during session TuAT20 on Tuesday & as a spotlight at the Loco-Manipulation workshop on Friday!
Website: https://t.co/EFzeV02ciB
Work with @SophieLueth & @GeorgiaChal!

[Sophie Lueth @SophieLueth]

For more, check out the website at https://t.co/Qnt3vSgb9k and paper at https://t.co/gY7dHl5Un7. This was work done at the Pearl group at @CS_TUDarmstadt &
@Hessian_AI with @GeorgiaChal
(6/6)

[Sophie Lueth @SophieLueth]

Each timestep, we sample base goals around the target object and evaluate collision-free paths to them. We trade off expected information gain on the viewpoints along the way (left) and reachability of high-quality grasps at the base goal, discounted by path length (right)

(3/6)

[Sophie Lueth @SophieLueth]

This way, we energy-efficiently leverage our knowledge about the spatial distribution of expected information gain and can switch dynamically between exploration and exploitation or task execution.

(5/6)

[Sophie Lueth @SophieLueth]

We propose a new formulation for active perceptive mobile manipulation that trades off exploration (expected information gain) and exploitation (execute task, e.g. reach & execute high-quality grasp) in a receding horizon fashion.

(2/6)

[Sophie Lueth @SophieLueth]

🥳 I'm excited to share that my paper "Active Perceptive Motion Generation for Mobile Manipulation" with @SnehalJauhri and @GeorgiaChal got accepted to #ICRA2024! 🥳

(1/6)

Go check it out: https://t.co/Qnt3vSgb9k