Ruben Hammele

COOL: Curiosity-Driven Object Ownership Learning for Personalized Robotic Assistance

Robots are increasingly expected to provide personalized services in everyday environments. To do so, they must ground natural-language commands such as"Where is my backpack?"or"Find my bottle"and execute them by reasoning about object instances, people, locations, and ownership. This is challenging because ownership i...

Evaluating Early Multimodal Fusion in Discrete Latent World Models for Robot Navigation

Hydra: A Navigation World Action Model with Discrete Latent Planning and Continuous Flow-Matching Execution

Hydra, a discrete World Action Model that tackles this by establishing a unified latent manifold over visual states, physical poses, and control actions, outperforms state-of-the-art navigation world models in goal-directed planning, while matching or exceeding the closed-loop execution capabilities of leading reactive...