Cover Image

CRISP -- Compliant ROS2 Controllers for Learning-Based Manipulation Policies and Teleoperation

Fuente: arXiv

Saved in:

Bibliographic Details
Main Authors:	Pro, Daniel San José, Hausdörfer, Oliver, Römer, Ralf, Dösch, Maximilian, Schuck, Martin, Schoellig, Angela P.
Format:	Preprint
Published:	2025
Subjects:	Robotics
Online Access:	Acceder al recurso
Tags:	Add Tag No Tags, Be the first to tag this record!

Similar Items

Latent Action Priors for Locomotion with Deep Reinforcement Learning
by: Hausdörfer, Oliver, et al.
Published: (2024)

Is Data All That Matters? The Role of Control Frequency for Learning-Based Sampled-Data Control of Uncertain Systems
by: Römer, Ralf, et al.
Published: (2024)

A Primer on SO(3) Action Representations in Deep Reinforcement Learning
by: Schuck, Martin, et al.
Published: (2025)

Flying through Moving Gates without Full State Estimation
by: Römer, Ralf, et al.
Published: (2024)

Diffusion Predictive Control with Constraints
by: Römer, Ralf, et al.
Published: (2024)

ARMimic: Learning Robotic Manipulation from Passive Human Demonstrations in Augmented Reality
by: Walia, Rohan, et al.
Published: (2025)

Reinforcement Learning with Lie Group Orientations for Robotics
by: Schuck, Martin, et al.
Published: (2024)

scipy.spatial.transform: Differentiable Framework-Agnostic 3D Transformations in Python
by: Schuck, Martin, et al.
Published: (2025)

Control-Barrier-Aided Teleoperation with Visual-Inertial SLAM for Safe MAV Navigation in Complex Environments
by: Zhou, Siqi, et al.
Published: (2024)

Hierarchical Task Model Predictive Control for Sequential Mobile Manipulation Tasks
by: Du, Xintong, et al.
Published: (2026)

Semantically Safe Robot Manipulation: From Semantic Scene Understanding to Motion Safeguards
by: Brunke, Lukas, et al.
Published: (2024)

Failure Prediction at Runtime for Generative Robot Policies
by: Römer, Ralf, et al.
Published: (2025)

CLARE: Continual Learning for Vision-Language-Action Models via Autonomous Adapter Routing and Expansion
by: Römer, Ralf, et al.
Published: (2026)

Perceptive Hierarchical-Task MPC for Sequential Mobile Manipulation in Unstructured Semi-Static Environments
by: Du, Xintong, et al.
Published: (2026)

From Demonstrations to Safe Deployment: Path-Consistent Safety Filtering for Diffusion Policies
by: Römer, Ralf, et al.
Published: (2025)

Robust Nonprehensile Object Transportation with Uncertain Inertial Parameters
by: Heins, Adam, et al.
Published: (2024)

Sensor Query Schedule and Sensor Noise Covariances for Accuracy-constrained Trajectory Estimation
by: Goudar, Abhishek, et al.
Published: (2026)

Decentralized and Fully Onboard: Range-Aided Cooperative Localization and Navigation on Micro Aerial Vehicles
by: Goudar, Abhishek, et al.
Published: (2026)

Force Push: Robust Single-Point Pushing with Force Feedback
by: Heins, Adam, et al.
Published: (2024)

Tilde: Teleoperation for Dexterous In-Hand Manipulation Learning with a DeltaHand
by: Si, Zilin, et al.
Published: (2024)

SQ-CBF: Signed Distance Functions for Numerically Stable Superquadric-Based Safety Filtering
by: Zhao, Haocheng, et al.
Published: (2026)

SwarmGPT: Combining Large Language Models with Safe Motion Planning for Drone Swarm Choreography
by: Schuck, Martin, et al.
Published: (2024)

Learning Diffusion Policies from Demonstrations For Compliant Contact-rich Manipulation
by: Aburub, Malek, et al.
Published: (2024)

TASC: Task-Aware Shared Control for Teleoperated Manipulation
by: Fu, Ze, et al.
Published: (2025)

SM2ITH: Safe Mobile Manipulation with Interactive Human Prediction via Task-Hierarchical Bilevel Model Predictive Control
by: D'Orazio, Francesco, et al.
Published: (2025)

Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation
by: Li, Jialong, et al.
Published: (2026)

Flying Hand: End-Effector-Centric Framework for Versatile Aerial Manipulation Teleoperation and Policy Learning
by: He, Guanqi, et al.
Published: (2025)

Bilateral Teleoperation with Compliant 6-DOF Pose-and-Force Sensing
by: Feng, Yue, et al.
Published: (2026)

Learning Sim-Grounded Policies for Bimanual Rope Manipulation from Human Teleoperation Data
by: Wigginghaus, Gina, et al.
Published: (2026)

SICNav: Safe and Interactive Crowd Navigation using Model Predictive Control and Bilevel Optimization
by: Samavi, Sepehr, et al.
Published: (2023)

Does Unpredictability Influence Driving Behavior?
by: Samavi, Sepehr, et al.
Published: (2023)

Range-Visual-Inertial Sensor Fusion for Micro Aerial Vehicle Localization and Navigation
by: Goudar, Abhishek, et al.
Published: (2023)

Crazyflow: An Accurate, GPU-Accelerated, Differentiable Drone Simulator in JAX
by: Schuck, Martin, et al.
Published: (2026)

In-the-Wild Compliant Manipulation with UMI-FT
by: Choi, Hojung, et al.
Published: (2026)

Compliant Non-Prehensile Pushing Manipulation
by: Cufino, Francesco, et al.
Published: (2026)

Safe Multi-Agent Reinforcement Learning for Behavior-Based Cooperative Navigation
by: Dawood, Murad, et al.
Published: (2023)

IMU as an Input vs. a Measurement of the State in Inertial-Aided State Estimation
by: Burnett, Keenan, et al.
Published: (2024)

Continuous-Time Radar-Inertial and Lidar-Inertial Odometry using a Gaussian Process Motion Prior
by: Burnett, Keenan, et al.
Published: (2024)

Improving Drone Racing Performance Through Iterative Learning MPC
by: Zhao, Haocheng, et al.
Published: (2025)

Low-Cost Teleoperation Extension for Mobile Manipulators
by: Belov, Danil, et al.
Published: (2026)