Author

Sven Behnke

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Preprint Sep 2026

Sample, Simulate, Select: Physics-in-the-Loop Text-to-Motion for Humanoids Without Training

Text-to-motion models generate plausible human motion but do not model a robot's dynamics; whole-body tracking controllers execute robot references reliably but cannot replan an infeasible one. Recent language-to-humanoid systems bridge this gap by training. We measure how much of the gap closes with no training at all...

Raphael Memmesheimer, Sven Behnke · 0 citations

#robotics Preprint Sep 2026

Benchmarking Robots for Everyday Environments: From Lab Experiments to Real-World Operations

An expert panel, spanning robotics, human-robot interaction, safety, and economics, systematically developed and refined an evaluation concept to analyze the transition from laboratory prototypes to operational systems.

Raphael Memmesheimer, Martina Overbeck, Dominik Beyer et al. · 0 citations

Jul 2026

ContactFlow: A video action conditioning that transfers across embodiments

This work proposes Contact Flow, an embodiment-agnostic action representation that encodes manipulation through the trajectory of 3D contact points between an actor and a target object, and integrates this model into a propose-imagine-verify-act pipeline, where generated rollouts are assessed by a vision-language model...

Sami Azirar, Enrico Pallotta, Jan Nogga et al. · arXiv.org · 1 citation