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Nick Heppert

PhD Student with ELLIS and ZUSE School ELIZA
Postal address:

Albert-Ludwigs-Universität Freiburg1
Technische Fakultät2
Robot Learning Lab3
Georges-Köhler-Allee 080
D-79110 Freiburg i. Br., Germany

Office: 080-01-022
Email: heppert@cs.uni-freiburg.de4
Links:

Google Scholar5 ORCID6 Github7 LinkedIn8

About me

  • 09/2022 - current: Ph.D. Student in the Robot Learning Lab9, University of Freiburg1
  • 05/2022 - 08/2022: Research Intern, Toyota Research Institute (TRI), US
  • 04/2021 - 04/2022: Visiting Student in the Interactive Perception and Robot Learning Lab10, Stanford University, US
  • 08/2019 - 11/2021: M.Sc. in Autonomous Systems, TU Darmstadt, Germany
  • 08/2018 - 07/2019: Visiting Exchange Student, KAIST, South Korea
  • 01/2018 - 07/2018: Software Development Engineer Intern, Amazon Core AI, Berlin, Germany
  • 10/2014 - 12/2017: B.Sc. in Computational Engineering, TU Darmstadt, Germany

Research Interests

  • Robot Perception
  • Continual and Self-Supervised Learning
  • Mobile Manipulation

Current Research Projects

Publications

View all my publications on Google Scholar5.

  • Muhammad Zubair Irshad, Mauro Comi, Yen-Chen Lin, Nick Heppert, Abhinav Valada, Rares Ambrus, Zsolt Kira, Jonathan Tremblay,
    Neural Fields in Robotics: A Survey
    arXiv preprint arXiv:2410.20220, 2024.
    Download12 Website13 BibTeX
  • Eugenio Chisari, Nick Heppert, Max Argus, Tim Welschehold, Thomas Brox, Abhinav Valada,
    Learning Robotic Manipulation Policies from Point Clouds with Conditional Flow Matching
    Conference on Robot Learning (CoRL), 2024.
    Download14 Website15
  • Nick Heppert, Max Argus, Thomas Brox, Abhinav Valada,
    DITTO: Demonstration Imitation by Trajectory Transformation
    2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, UAE , 2024
    ICRA Workshop on "A Future Roadmap for Sensorimotor Skill Learning for Robot Manipulation", 2024
    arXiv16 Website17
  • Nick Heppert*, Adrian Röfer*, Abdallah Ayman, Eugenio Chisari, Abhinav Valada,
    PseudoTouch: Efficiently Imaging the Surface Feel of Objects for Robotic Manipulation.
    IEEE International Conference on Robotics and Automation (ICRA), 2025
    arXiv18 Website19
  • Eugenio Chisari, Nick Heppert, Tim Welschehold, Wolfram Burgard, Abhinav Valada
    CenterGrasp: Object-Aware Implicit Representation Learning for Simultaneous Shape Reconstruction and 6-DoF Grasp Estimation
    IEEE Robotics and Automation Letters (RA-L), 2024
    IEEE20 Website21 Code22
  • Nick Heppert, Muhammad Zubair Irshad, Sergey Zakharov, Katherine Liu, Rares Andrei Ambrus, Jeannette Bohg, Abhinav Valada, Thomas Kollar
    CARTO: Category and Joint Agnostic Reconstruction of ARTiculated Objects
    2023 IEEE/CVF International Conference on Computer Vision and Pattern Recognition (CVPR), Vancouver, Canada, 2023.
    arXiv23 Website24 BibTeX
  • Nick Heppert, Toki Migimatsu, Brent Yi, Claire Chen, Jeannette Bohg
    Category-Independent Articulated Object Tracking with Factor Graphs
    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022.
    arXiv25 Website26 Code27

Links

  1. http://www.uni-freiburg.de/
  2. http://www.tf.uni-freiburg.de/
  3. http://rl.uni-freiburg.de/
  4. mailto:heppert@cs.uni-freiburg.de
  5. https://scholar.google.com/citations?user=btkVpywAAAAJ&hl=en
  6. https://orcid.org/0000-0002-4347-2644
  7. https://github.com/SuperN1ck/
  8. https://www.linkedin.com/in/nick-heppert/
  9. https://rl.informatik.uni-freiburg.de/
  10. http://iprl.stanford.edu/
  11. https://www.brainlinks-braintools.uni-freiburg.de/rescale/
  12. https://arxiv.org/abs/2410.20220
  13. https://robonerf.github.io/survey/index.html
  14. https://arxiv.org/abs/2409.07343
  15. http://pointflowmatch.cs.uni-freiburg.de/
  16. https://arxiv.org/abs/2403.15203
  17. http://ditto.cs.uni-freiburg.de/
  18. https://arxiv.org/abs/2403.15107
  19. http://pseudotouch.cs.uni-freiburg.de/
  20. https://ieeexplore.ieee.org/document/10499443
  21. http://centergrasp.cs.uni-freiburg.de
  22. https://github.com/robot-learning-freiburg/CenterGrasp
  23. https://arxiv.org/abs/2303.15782
  24. http://carto.cs.uni-freiburg.de
  25. https://arxiv.org/abs/2205.03721
  26. https://sites.google.com/view/category-independentarticulate/category-independent-articulated-object-tracking-with-factor-graphs
  27. https://github.com/SuperN1ck/cat-ind-fg