Author

Hermann Blum

h-index 2 View on Semantic Scholar

We have 3 of 6 papers

We haven’t gathered this author’s papers yet. Follow them and we’ll fetch their work.

Not the right person? Other researchers publish under this name.

#artificial intelligence Feb 2026

Articulated 3D Scene Graphs for Open-World Mobile Manipulation

MoMa-SG, a novel framework for building semantic-kinematic 3D scene graphs of articulated scenes containing a myriad of interactable objects, and the Arti4D-Semantic dataset, which provides parent-child relation annotations between container and contained objects together with object axis annotations across 62 in-the-w...

Martin Buchner, Adrian Rofer, Tim Engelbracht et al. · arXiv.org · 12 citations

#artificial intelligence Preprint Sep 2026

ForceTwin: Physics-informed Digital Twins for Robotic Manipulation from Instrumented Human Interaction

ForceTwin is a system for identifying physics-informed digital twins of articulated objects from instrumented human interaction that achieves 87% goal completion across nine object-embodiment pairs, compared with 60% using VLM-prior and 57% using kinematics-only twins.

Tim Engelbracht, René Zurbrügg, Mayank Mittal 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