Author

Michael Krawez

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Preprint Sep 2026

DUET-DINO: Simultaneous Cross-View World Modeling for Latent Planning in Robot Manipulation

Action-conditioned latent world models predict future visual representations, enabling zero-shot goal-conditioned robot planning and control. However, their predictions for fine-grained spatial and rotational actions are unreliable for full 7-DoF end-effector control. To address this gap, we introduce DUET-DINO, a simu...

Nisarga Nilavadi, Ralf Römer, Moritz Reuss et al. · 0 citations

Preprint Sep 2026

Wrench-ACT: Enhancing Robot Policies for Contact Rich Behavior Using Direct Wrench Control

While contact-rich manipulation requires deliberate regulation of interaction forces, recent approaches to robot manipulation learning predominantly represent actions as target positions or poses. Even methods that incorporate force sensing either use it solely as an observation or, when predicting forces as part of th...

Johannes Hechtl, Yannik Blei, Simon Ball et al. · 0 citations