Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot
Max Schwarz, Marius Beul, David Droeschel, Sebastian Schüller, Arul Selvam Periyasamy, Christian Lenz, Michael Schreiber, and Sven Behnke
CV
Education
- B.Tech. in Information Technology, Anna University, 2012
- M.S. in Computer Science, University of Bonn, 2017
- Ph.D in Robotic Perception, University of Bonn, Ongoing.
Research Projects
- Amazon Research Award project, 2019: Learning Structured Scene Modeling and Physics-Based Prediction for Manipulation
- Amazon Research Award project, 2020: Generalizing Scene Parsing for Cluttered Bin Picking
- H2020 Project CENTAURO
Awards & Recognition
- Finalist for Best Automation Paper Award Finalist, IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 2017.
- 2nd Place in Grand Challenge, Mohamed Bin Zayed International Robotics Challenge (MBZIRC), Abu Dhabi, UAE, February, 2020
- 2nd Place in Challenge II, Mohamed Bin Zayed International Robotics Challenge (MBZIRC), Abu Dhabi, UAE, February, 2020.
- 2nd Place in Pick task, Amazon Robotics Challenge, Nagoya, Japan, July, 2017. Prize money: USD 10,000.
- 2nd Place in Final round, Amazon Robotics Challenge, Nagoya, Japan, July, 2017. Prize money: USD 40,000.
- Winners of Grand Challenge, Mohamed Bin Zayed International Robotics Challenge (MBZIRC), Abu Dhabi, UAE, March, 2017. Prize money: USD 1,000,000.
- Winners of Ground Robotics Challenge, Mohamed Bin Zayed International Robotics Challenge (MBZIRC), Abu Dhabi, UAE, March, 2017. Prize money: USD 350,000.
- 3rd Place in Pick task, Amazon Robotics Challenge, Leipzig, Germany, July, 2016. Prize money: USD 10,000
- 2nd Place in Stow task, Amazon Robotics Challenge, Leipzig, Germany, July, 2016. Prize money: USD 10,000
- Only team to complete all the tasks, SpaceBot camp, Deutsches Zentrum für Luft- und Raumfahrt köln, Germany, November, 2015
Publications
Supervised Autonomy for Exploration and Mobile Manipulation in Rough Terrain with a Centaur-like Robot
NimbRo Picking: Versatile Part Handling for Warehouse Automation
Max Schwarz, Anton Milan, Christian Lenz, Aura Munoz, Arul Selvam Periyasamy, Michael Schreiber, Sebastian Schüller, and Sven Behnke:
RGB-D Object Detection and Semantic Segmentation for Autonomous Manipulation in Clutter
Max Schwarz, Anton Milan, Arul Selvam Periyasamy, and Sven Behnke:
Fast Object Learning and Dual-arm Coordination for Cluttered Stowing, Picking, and Packing
Max Schwarz, Christian Lenz, German Martin Garcia, Seongyong Koo, Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke:
Robust 6D Object Pose Estimation in Cluttered Scenes using Semantic Segmentation and Pose Regression Networks
Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke
Autonomous Dual-Arm Manipulation of Familiar Objects
Dmytro Pavlichenko, Diego Rodriguez, Max Schwarz, Christian Lenz, Arul Selvam Periyasamy, and Sven Behnke
Team NimbRo at MBZIRC 2017: Autonomous Valve Stem Turning using a Wrench
Max Schwarz, David Droeschel, Christian Lenz, Arul Selvam Periyasamy, En Yen Puang, Jan Razlaw, Diego Rodriguez, Sebastian Schüller, Michael Schreiber, and Sven Behnke:
Remote mobile manipulation with the Centauro robot: Full-body telepresence and autonomous operator assistance
Tobias Klamt, Max Schwarz, Christian Lenz, Lorenzo Baccelliere, Domenico Buongiorno, Torben Cichon, Antonio DiGuardo, David Droeschel, Massimiliano Gabardi, Malgorzata Kamedula, Navvab Kashiri, Arturo Laurenzi, Daniele Leonardis, Luca Muratore, Dmytro Pavlichenko, Arul S. Periyasamy, Diego Rodriguez, Massimiliano Solazzi, Antonio Frisoli, Michael Gustmann, Jürgen Roßmann, Uwe Süss, Nikos G. Tsagarakis, and Sven Behnke
Refining 6D Object Pose Predictions using Abstract Render-and-Compare
Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke
Autonomous Wall Building with a UGV-UAV Team at MBZIRC 2020
Christian Lenz, Max Schwarz, Andre Rochow, Jan Razlaw, Arul Selvam Periyasamy, Michael Schreiber, and Sven Behnke
Team NimbRo’s UGV Solution for Autonomous Wall Building and Fire Fighting at MBZIRC 2020
Christian Lenz, Jan Quenzel, Arul Selvam Periyasamy, Jan Razlaw, Andre Rochow, Malte Splietker, Michael Schreiber, Max Schwarz, Finn Süberkrüb, and Sven Behnke
SynPick: A Dataset for Dynamic Bin Picking Scene Understanding
Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke
T6D-Direct: Transformers for Multi-Object 6D Pose Direct Regression
Arash Amini, Arul Selvam Periyasamy, and Sven Behnke
Iterative 3D Deformable Registration from Single-View RGB Images Using Differentiable Rendering
Arul Selvam Periyasamy, Max Schwarz, and Sven Behnke
YOLOPose: Transformer-based Multi-Object 6D Pose Estimation using Keypoint Regression
Arul Selvam Periyasamy, Arash Amini, and Sven Behnke
Learning Implicit Probability Distribution Functions for Symmetric Orientation Estimation from RGB Images Without Pose Labels
Arul Selvam Periyasamy, Luis Denniger, and Sven Behnke
YOLOPose V2: Understanding and Improving Transformer-based 6D Pose Estimation
Arul Selvam Periyasamy, Arash Amini, Vladimir Tsaturyan, and Sven Behnke