Author

Nils Dengler

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Preprint Sep 2026

MS-MEM: Multi-Skill Manipulation-Enhanced Mapping via Uncertainty- and Disturbance-Aware Action Selection

Experimental results show that, compared with single-skill and unconstrained baselines that ignore scene disturbance, MS-MEM achieves higher mapping accuracy while substantially reducing scene disturbance, highlighting the synergistic effects of active viewpoint selection, push, and grasp actions.

Yi-Tian Shi, Jesper Mücke, Nils Dengler et al. · 0 citations

Preprint Aug 2026

Semantic- and Density-Aware Planning for Accessibility-Preserving Multi-Object Placement

Semantic-Dense Placement Planning (SDPP) is proposed, an accessibility-preserving approach that ranks candidate poses using a semantic-density score combining inter-object semantic similarity with spatial proximity and significantly improves semantic placement quality over state-of-the-art baselines.

Benno Wingender, Nils Dengler, Nicolas Busch et al. · 0 citations