Robotics and Biology Laboratory

Manuel Baum

Research Interests

I am interested in interactive perception and task-directed exploration, two related and deeply robotic problems.

Interactive perception is important, as not all information that is relevant to an agent is readily available just from looking at the world. The agent needs to exert forces, interact with the world to reveal what's relevant, e.g. the weight of an object, or the degrees of freedom of a kinematic structure. Furthermore, as the agent knows which actions it performed to generate sensor data, it can make use of that information to interpret its input.

The world is complex, but robots are usually employed to solve a set of tasks for which they just need to know about a subset of the world. This is why it is important not to explore the environment randomly, but to perform task-directed exploration. But how to find out which information is actually relevant to a task? And how can we gather that information? I aim to answer these questions in my research.

Gebäude MAR
Raum MAR 5.065

Publications

2022

Baum, Manuel; Brock, Oliver
"The World Is Its Own Best Model": Robust Real-World Manipulation Through Online Behavior Selection
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA)
2022
Baum, Manuel; Schattenhofer, Lukas; R"ossler, Theresa; Osuna-Mascaró, Antonio; Auersperg, Alice; Kacelnik, Alex; Brock, Oliver
Yoking-Based Identification of Learning Behavior in Artificial and Biological Agents
Proceedings of the International Conference on the Simulation of Adaptive Behavior 2022 -From Animals to Animats 16, Seite 67–78
Herausgeber: Springer International Publishing, Cham
2022
ISBN
978-3-031-16770-6

2021

Baum, Manuel; Brock, Oliver
Achieving Robustness in a Drawer Manipulation Task by using High-level Feedback instead of Planning
Proceedings of the DGR Days, Seite 29-29
DGR Days
2021

2017

Baum, Manuel; Brock, Oliver
Achieving Robustness by Optimizing Failure Behavior
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Seite 5806-5811
2017
Baum, Manuel; Bernstein, Matthew; Martín-Martín, Roberto; Höfer, Sebastian; Kulick, Johannes; Toussaint, Marc; Kacelnik, Alex; Brock, Oliver
Opening a Lockbox through Physical Exploration
Proceedings of the IEEE International Conference on Humanoid Robots (Humanoids)
2017

2015

Baum, Manuel; Meier, Martin; Schilling, Malte
Population based Mean of Multiple Computations networks: A building block for kinematic models
2015 International Joint Conference on Neural Networks (IJCNN), Seite 1–8
IEEE
2015