Publications

Niklas Funk, Changqi Chen, Tim Schneider, Georgia Chalvatzaki, Roberto Calandra, Jan Peters (2025). On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting. Preprint.

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Christian Moeller, Niklas Funk, Jan Peters (2025). Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion Models. In CVPR 2025 Workshop on Event-based Vision.

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Puze Liu, Jonas Guenster, Niklas Funk, Simon Groeger, Dong Chen, Haitham Bou Ammar, Julius Jankowski, Ante Maric, Sylvain Calinon, Andrej Orsula, Miguel Olivares-Mendez, Hongyi Zhou, Rudolf Lioutikov, Gerhard Neumann, Amarildo Likmeta, Amirhossein Zhalehmehrabi, Thomas Bonenfant, Marcello Restelli, Davide Tateo, Ziyuan Liu, Jan Peters (2024). A Retrospective on the Robot Air Hockey Challenge: Benchmarking Robust, Reliable, and Safe Learning Techniques for Real-world Robotics. In NeurIPS 2024 Datasets and Benchmarks Track.

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Erik Helmut, Luca Dziarski, Niklas Funk, Boris Belousov, Jan Peters (2024). Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor based on Finite Element Analysis. In 2nd NeurIPS Workshop on Touch Processing - From Data to Knowledge.

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Niklas Funk, Julen Urain, Joao Carvalho, Vignesh Prasad, Georgia Chalvatzaki, Jan Peters (2024). ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching. Preprint.

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Niklas Funk, Erik Helmut, Georgia Chalvatzaki, Roberto Calandra, Jan Peters (2023). Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation. IEEE Transactions on Robotics.

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Niklas Funk, Luca Lach, Robert Haschke, Severin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki (2023). Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing. In IROS Conference 2023.

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Niklas Funk, Paul-Otto Mueller, Boris Belousov, Anton Savchenko, Rolf Findeisen, Jan Peters (2023). High-Resolution Pixelwise Contact Area and Normal Force Estimation for the GelSight Mini Visuotactile Sensor Using Neural Networks. In ICRA 2023 Workshop on Embracing Contacts.

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Niklas Funk, Svenja Menzenbach, Georgia Chalvatzaki, Jan Peters (2022). Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery. In LoG 2022.

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Yuxi Liu, Boris Belousov, Niklas Funk, Svenja Menzenbach, Georgia Chalvatzaki, Jan Peters, Oliver Tessmann (2022). Auto(mated)nomous Assembly. In Trends on Construction in the Digital Era.

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Niklas Funk, Julen Urain, Georgia Chalvatzaki, Jan Peters (2022). SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion. In ICRA Conference 2023.

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Niklas Funk, Svenja Menzenbach, Georgia Chalvatzaki, Jan Peters (2022). Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery. In ICRA 2022 Workshop on BPRL.

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Niklas Funk, Georgia Chalvatzaki, Boris Belousov, Jan Peters (2022). Reinforcement Learning for Assembly with Structured Graph Representations and Search. In RLDM 2022.

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Niklas Funk, Svenja Menzenbach, Georgia Chalvatzaki, Jan Peters (2022). Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery. In IROS Conference 2022.

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Stefan Bauer, Manuel Wüthrich, Felix Widmaier, Annika Buchholz, Sebastian Stark, Anirudh Goyal, Thomas Steinbrenner, Joel Akpo, Shruti Joshi, Vincent Berenz, Vaibhav Agrawal, Niklas Funk, Julen Urain, Jan Peters, Joe Watson, Claire Chen, Krishnan Srinivasan, Junwu Zhang, Jeffrey Zhang, Matthew Walter, Rishabh Madan, Takuma Yoneda, Denis Yarats, Arthur Allshire, Ethan Gordon, Tapomayukh Bhattacharjee, Siddhartha Srinivasa, Animesh Garg, Takahiro Maeda, Harshit Sikchi, Jilong Wang, Qingfeng Yao, Shuyu Yang, Robert McCarthy, Francisco Sanchez, Qiang Wang, David Bulens, Kevin McGuinness, Noel O’Connor, Redmond Stephen, Bernhard Schölkopf (2022). Real Robot Challenge: A Robotics Competition in the Cloud. In NeurIPS 2021 Competition and Demonstration Track.

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Niklas Funk, Georgia Chalvatzaki, Boris Belousov, Jan Peters (2021). Learn2Assemble with structured representations and search for robotic architectural construction. In CoRL 2021.

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Bastian Wibranek, Yuxi Liu, Niklas Funk, Boris Belousov, Jan Peters, Oliver Tessmann (2021). Reinforcement Learning for Sequential Assembly of SL-Blocks-Self-interlocking combinatorial design based on Machine Learning. In 39th eCAADe Conference.

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Niklas Funk, Charles Schaff, Rishabh Madan, Takuma Yoneda, Julen Urain, Joe Watson, Ethan K. Gordon, Felix Widmaier, Stefan Bauer, Siddhartha S. Srinivasa, Tapomayukh Bhattacharjee, Matthew R. Walter, Jan Peters (2021). Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation. in RAL.

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Niklas Funk, Dominik Baumann, Vincent Berenz, Sebastian Trimpe (2020). Learning event-triggered control from data through joint optimization. In IFAC Journal of Systems and Control.

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Niklas Funk, Nikhilesh Alatur, Robin Deuber, Frederick Gonon, Nico Messikommer, Julian Nubert, Moritz Patriarca, Simon Schaefer, Dominic Scotoni, Nicholas Bunger, Renaud Dube, Raghav Khanna, Mark Pfeiffer, Erik Wilhelm, Roland Siegwart (2017). Autonomous Electric Race Car Design. In EVS 30.

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