Author

Yannik Blei

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Preprint Sep 2026

Wrench-ACT: Enhancing Robot Policies for Contact Rich Behavior Using Direct Wrench Control

While contact-rich manipulation requires deliberate regulation of interaction forces, recent approaches to robot manipulation learning predominantly represent actions as target positions or poses. Even methods that incorporate force sensing either use it solely as an observation or, when predicting forces as part of th...

Johannes Hechtl, Yannik Blei, Simon Ball et al. · 0 citations

Jul 2026

Zero-Shot Mission-Level Evaluation for Aerial MLLM Agents

This work introduces MissionBench, a benchmark for mission-level evaluation of MLLMs in aerial 3D environments, and shows that mission-level competence requires coordinating multiple capabilities beyond spatial perception, including multi-step planning and adaptive reasoning.

Suman Navaratnarajah, Taehyoung Kim, Jona Ruthardt et al. · arXiv.org · 0 citations