Publications | Niklas Funk https://niklasfunk.com/publication/ Publications Wowchemy (https://wowchemy.com)en-usWed, 15 Apr 2026 00:00:00 +0000 https://niklasfunk.com/media/icon_hu52812a4a0011b18275ab7623cc3ad93f_4329_512x512_fill_lanczos_center_3.png Publications https://niklasfunk.com/publication/ On the Importance of Tactile Sensing for Imitation Learning: A Case Study on Robotic Match Lighting https://niklasfunk.com/publication/tactile-match-ignite/ Wed, 15 Apr 2026 00:00:00 +0000 https://niklasfunk.com/publication/tactile-match-ignite/ <figure > <div class="d-flex justify-content-center"> <div class="w-100" ><img alt="" src="https://niklasfunk.com/publication/tactile-match-ignite/featured_gif.gif" loading="lazy" data-zoomable /></div> </div></figure> SE(3)-PoseFlow: Estimating 6D Pose Distributions for Uncertainty-Aware Robotic Manipulation https://niklasfunk.com/publication/2025-se3-flow-pose/ Thu, 02 Oct 2025 00:00:00 +0000 https://niklasfunk.com/publication/2025-se3-flow-pose/ Tactile-Conditioned Diffusion Policy for Force-Aware Robotic Manipulation https://niklasfunk.com/publication/2025-tactile-diffusion-policy/ Wed, 01 Oct 2025 00:00:00 +0000 https://niklasfunk.com/publication/2025-tactile-diffusion-policy/ Learning Force Distribution Estimation for the GelSight Mini Optical Tactile Sensor based on Finite Element Analysis https://niklasfunk.com/publication/learning-force-distribution-gelsight/ Sat, 01 Mar 2025 00:00:00 +0000 https://niklasfunk.com/publication/learning-force-distribution-gelsight/ Particle-based 6D Object Pose Estimation from Point Clouds using Diffusion Models https://niklasfunk.com/publication/particle-based-6d-pose-estimation/ Sat, 01 Mar 2025 00:00:00 +0000 https://niklasfunk.com/publication/particle-based-6d-pose-estimation/ A Retrospective on the Robot Air Hockey Challenge: Benchmarking Robust, Reliable, and Safe Learning Techniques for Real-world Robotics https://niklasfunk.com/publication/robot-air-hockey-challenge/ Sun, 01 Dec 2024 00:00:00 +0000 https://niklasfunk.com/publication/robot-air-hockey-challenge/ ActionFlow: Equivariant, Accurate, and Efficient Policies with Spatially Symmetric Flow Matching https://niklasfunk.com/publication/actionflow/ Fri, 06 Sep 2024 00:00:00 +0000 https://niklasfunk.com/publication/actionflow/ <figure > <div class="d-flex justify-content-center"> <div class="w-100" ><img alt="" src="https://niklasfunk.com/publication/actionflow/featured_gif.gif" loading="lazy" data-zoomable /></div> </div></figure> Evetac: An Event-based Optical Tactile Sensor for Robotic Manipulation https://niklasfunk.com/publication/evetac/ Sat, 02 Dec 2023 00:00:00 +0000 https://niklasfunk.com/publication/evetac/ <figure > <div class="d-flex justify-content-center"> <div class="w-100" ><img alt="" src="https://niklasfunk.com/publication/evetac/featured_gif.gif" loading="lazy" data-zoomable /></div> </div></figure> Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing https://niklasfunk.com/publication/stable-tactile-placing/ Thu, 21 Sep 2023 00:00:00 +0000 https://niklasfunk.com/publication/stable-tactile-placing/ <figure > <div class="d-flex justify-content-center"> <div class="w-100" ><img alt="" src="https://niklasfunk.com/publication/stable-tactile-placing/featured_gif.gif" loading="lazy" data-zoomable /></div> </div></figure> High-Resolution Pixelwise Contact Area and Normal Force Estimation for the GelSight Mini Visuotactile Sensor Using Neural Networks https://niklasfunk.com/publication/canfnet-gelsight-preprint/ Thu, 25 May 2023 00:00:00 +0000 https://niklasfunk.com/publication/canfnet-gelsight-preprint/ <figure > <div class="d-flex justify-content-center"> <div class="w-100" ><img src="featured_gif.gif" alt="" loading="lazy" data-zoomable /></div> </div></figure> Auto(mated)nomous Assembly https://niklasfunk.com/publication/3-architecture-automated-autonomous-assembly/ Sat, 10 Sep 2022 00:00:00 +0000 https://niklasfunk.com/publication/3-architecture-automated-autonomous-assembly/ Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery https://niklasfunk.com/publication/2-log-conference/ Sat, 10 Sep 2022 00:00:00 +0000 https://niklasfunk.com/publication/2-log-conference/ SE(3)-DiffusionFields: Learning smooth cost functions for joint grasp and motion optimization through diffusion https://niklasfunk.com/publication/motion-opt/ Thu, 01 Sep 2022 00:00:00 +0000 https://niklasfunk.com/publication/motion-opt/ <figure > <div class="d-flex justify-content-center"> <div class="w-100" ><img alt="" src="https://niklasfunk.com/publication/motion-opt/featured_gif.gif" loading="lazy" data-zoomable /></div> </div></figure> Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery https://niklasfunk.com/publication/1-icra-workshop/ Sun, 08 May 2022 00:00:00 +0000 https://niklasfunk.com/publication/1-icra-workshop/ Reinforcement Learning for Assembly with Structured Graph Representations and Search https://niklasfunk.com/publication/0-rldm-conference/ Mon, 28 Mar 2022 00:00:00 +0000 https://niklasfunk.com/publication/0-rldm-conference/ Graph-based Reinforcement Learning meets Mixed Integer Programs: An application to 3D robot assembly discovery https://niklasfunk.com/publication/rl-meets-milp/ Tue, 01 Mar 2022 00:00:00 +0000 https://niklasfunk.com/publication/rl-meets-milp/ <figure > <div class="d-flex justify-content-center"> <div class="w-100" ><img src="featured_gif.gif" alt="" loading="lazy" data-zoomable /></div> </div></figure> Real Robot Challenge: A Robotics Competition in the Cloud https://niklasfunk.com/publication/rrc-competition-in-cloud/ Sat, 01 Jan 2022 00:00:00 +0000 https://niklasfunk.com/publication/rrc-competition-in-cloud/ Learn2Assemble with structured representations and search for robotic architectural construction https://niklasfunk.com/publication/learn2assemble/ Wed, 01 Sep 2021 00:00:00 +0000 https://niklasfunk.com/publication/learn2assemble/ Reinforcement Learning for Sequential Assembly of SL-Blocks-Self-interlocking combinatorial design based on Machine Learning https://niklasfunk.com/publication/rl-sl-blocks/ Sat, 01 May 2021 00:00:00 +0000 https://niklasfunk.com/publication/rl-sl-blocks/ Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation https://niklasfunk.com/publication/dexterous-manipulation/ Mon, 01 Mar 2021 00:00:00 +0000 https://niklasfunk.com/publication/dexterous-manipulation/ Learning event-triggered control from data through joint optimization https://niklasfunk.com/publication/learn-etc/ Sat, 01 Aug 2020 00:00:00 +0000 https://niklasfunk.com/publication/learn-etc/ Autonomous Electric Race Car Design https://niklasfunk.com/publication/autonomous-electric-car-design/ Sun, 01 Jan 2017 00:00:00 +0000 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