---
_id: '7175'
abstract:
- lang: eng
text: Deep reinforcement learning (RL) policies for robotic control typically overfit
to a single hardware configuration. Any change to the kinematic chain breaks the
learned mapping and requires complete retraining. This paper investigates whether
combining self-attention mechanisms with explicit spatial observations can improve
a policy’s adaptability to varying kinematic topologies. We train a single RL
agent to control a robotic manipulator across different degrees of freedom (DOF),
ranging from a restricted 4-DOF mode to a fully redundant 7-DOF configuration.
Instead of fixed-length state vectors, the method processes the active joints
as a variable-length sequence in an attention buffer, enriching each joint’s representation
with its relative spatial routing and geometric Jacobian influence. This structure
allows the agent to dynamically evaluate the physical utility of its available
actuators. The proposed Architecture reaches a success rate of 82.1% across trained
topologies and 66.6% on unseen configurations, outperforming MLP and generic attention
baselines while remaining nearly collisionfree. Finally, we demonstrate successful
sim-to-real transfer by deploying the simulation-trained agent on a physical Franka
Emika Panda manipulator.
author:
- first_name: Patrick Thomas
full_name: Mayer, Patrick Thomas
id: '244831'
last_name: Mayer
orcid: 0009-0009-6800-1273
orcid_put_code_url: https://api.orcid.org/v2.0/0009-0009-6800-1273/work/227375532
- first_name: Jan
full_name: Rexilius, Jan
id: '245736'
last_name: Rexilius
orcid: 0000-0002-4579-214X
orcid_put_code_url: https://api.orcid.org/v2.0/0000-0002-4579-214X/work/227375533
citation:
alphadin: 'Mayer, Patrick Thomas ;
Rexilius, Jan: Adapting to Variable
Kinematic Configurations: A Causal-Kinematic Attention Approach for Robotic Control.
In:'
ama: 'Mayer PT, Rexilius J. Adapting to Variable Kinematic Configurations: A Causal-Kinematic
Attention Approach for Robotic Control.'
apa: 'Mayer, P. T., & Rexilius, J. (n.d.). Adapting to Variable Kinematic Configurations:
A Causal-Kinematic Attention Approach for Robotic Control. Presented at the 9th
Iberian Robotics Conference (ROBOT) , Barcelona.'
bibtex: '@inproceedings{Mayer_Rexilius, title={Adapting to Variable Kinematic Configurations:
A Causal-Kinematic Attention Approach for Robotic Control}, author={Mayer, Patrick
Thomas and Rexilius, Jan} }'
chicago: 'Mayer, Patrick Thomas, and Jan Rexilius. “Adapting to Variable Kinematic
Configurations: A Causal-Kinematic Attention Approach for Robotic Control,” n.d.'
ieee: 'P. T. Mayer and J. Rexilius, “Adapting to Variable Kinematic Configurations:
A Causal-Kinematic Attention Approach for Robotic Control,” presented at the 9th
Iberian Robotics Conference (ROBOT) , Barcelona.'
mla: 'Mayer, Patrick Thomas, and Jan Rexilius. Adapting to Variable Kinematic
Configurations: A Causal-Kinematic Attention Approach for Robotic Control.'
short: 'P.T. Mayer, J. Rexilius, in: n.d.'
conference:
end_date: 2026-11-20
location: Barcelona
name: '9th Iberian Robotics Conference (ROBOT) '
start_date: 2026-11-18
date_created: 2026-09-21T16:34:09Z
date_updated: 2026-09-21T19:31:42Z
department:
- _id: '102'
keyword:
- Reinforcement Learning
- Robotic Manipulation
- Morphology Generalization
- Sim-to-Real Transfer
language:
- iso: eng
project:
- _id: A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D
name: Institute for Building Intelligence
publication_status: accepted
quality_controlled: '1'
status: public
title: 'Adapting to Variable Kinematic Configurations: A Causal-Kinematic Attention
Approach for Robotic Control'
type: conference
user_id: '244831'
year: '2026'
...
---
_id: '7174'
abstract:
- lang: eng
text: This paper presents a hybrid control architecture for dynamic robotic picking
tasks. The framework combines a Deep Reinforcement Learning policy for high-level
interception with a dedicated Inverse Kinematics controller for precise terminal
grasping, while mitigating precision limitations of monolithic learning-based
approaches. The framework utilizes a Proximal Policy Optimization agent to approach
moving targets, seamlessly transitioning to an Inverse Kinematics solver that
reduces terminal orientational and positional errors while minimizing cumulative
control effort. To facilitate deployment on physical hardware, a robust sim-to-real
pipeline incorporating system identification, domain randomization, and latency
injection is employed. Experimental results on a physical Franka Emika Panda manipulator
validate this hybrid architecture. The system achieves an 80% success rate in
pick-and-place tasks, compared to 60.8% for unadapted baselines, with no safety-critical
violations such as joint limit breaches or collisions observed during testing.
author:
- first_name: Patrick Thomas
full_name: Mayer, Patrick Thomas
id: '244831'
last_name: Mayer
orcid: 0009-0009-6800-1273
orcid_put_code_url: https://api.orcid.org/v2.0/0009-0009-6800-1273/work/227375528
- first_name: Jan
full_name: Rexilius, Jan
id: '245736'
last_name: Rexilius
orcid: 0000-0002-4579-214X
orcid_put_code_url: https://api.orcid.org/v2.0/0000-0002-4579-214X/work/227375529
citation:
alphadin: 'Mayer, Patrick Thomas ;
Rexilius, Jan: A Hybrid Control
Framework Using Reinforcement Learning for Dynamic Robotic Manipulation and Sim-to-Real
Transfer. In:'
ama: Mayer PT, Rexilius J. A Hybrid Control Framework Using Reinforcement Learning
for Dynamic Robotic Manipulation and Sim-to-Real Transfer.
apa: Mayer, P. T., & Rexilius, J. (n.d.). A Hybrid Control Framework Using Reinforcement
Learning for Dynamic Robotic Manipulation and Sim-to-Real Transfer. Presented
at the 26th International Conference on Control, Automation and Systems (ICCAS),
Sapporo.
bibtex: '@inproceedings{Mayer_Rexilius, title={A Hybrid Control Framework Using
Reinforcement Learning for Dynamic Robotic Manipulation and Sim-to-Real Transfer},
author={Mayer, Patrick Thomas and Rexilius, Jan} }'
chicago: Mayer, Patrick Thomas, and Jan Rexilius. “A Hybrid Control Framework Using
Reinforcement Learning for Dynamic Robotic Manipulation and Sim-to-Real Transfer,”
n.d.
ieee: P. T. Mayer and J. Rexilius, “A Hybrid Control Framework Using Reinforcement
Learning for Dynamic Robotic Manipulation and Sim-to-Real Transfer,” presented
at the 26th International Conference on Control, Automation and Systems (ICCAS),
Sapporo.
mla: Mayer, Patrick Thomas, and Jan Rexilius. A Hybrid Control Framework Using
Reinforcement Learning for Dynamic Robotic Manipulation and Sim-to-Real Transfer.
short: 'P.T. Mayer, J. Rexilius, in: n.d.'
conference:
end_date: 2026-10-30
location: Sapporo
name: 26th International Conference on Control, Automation and Systems (ICCAS)
start_date: 2026-10-27
date_created: 2026-09-21T16:30:06Z
date_updated: 2026-09-21T19:31:37Z
department:
- _id: '102'
keyword:
- Reinforcement Learning
- Hybrid Control
- Sim-to-Real
- Robotic Manipulation
- Inverse Kinematics.
language:
- iso: eng
project:
- _id: A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D
name: Institute for Building Intelligence
publication_status: accepted
quality_controlled: '1'
status: public
title: A Hybrid Control Framework Using Reinforcement Learning for Dynamic Robotic
Manipulation and Sim-to-Real Transfer
type: conference
user_id: '244831'
year: '2026'
...
---
_id: '6488'
article_type: original
author:
- first_name: Kirsten
full_name: Wagner, Kirsten
id: '208744'
last_name: Wagner
orcid: 0000-0002-6012-2822
orcid_put_code_url: https://api.orcid.org/v2.0/0000-0002-6012-2822/work/204142331
citation:
alphadin: 'Wagner, Kirsten: Imagination
und Verstand. Zur doppelten anthropologischen Verfasstheit. In: Dialoge über
Gestaltung (2025), Nr. 2'
ama: Wagner K. Imagination und Verstand. Zur doppelten anthropologischen Verfasstheit.
Dialoge über Gestaltung. 2025;(2). doi:https://doi.org/10.82467/dg.2025.02.230
apa: Wagner, K. (2025). Imagination und Verstand. Zur doppelten anthropologischen
Verfasstheit. Dialoge über Gestaltung, (2). https://doi.org/10.82467/dg.2025.02.230
bibtex: '@article{Wagner_2025, title={Imagination und Verstand. Zur doppelten anthropologischen
Verfasstheit}, DOI={https://doi.org/10.82467/dg.2025.02.230},
number={2}, journal={Dialoge über Gestaltung}, author={Wagner, Kirsten}, year={2025}
}'
chicago: Wagner, Kirsten. “Imagination und Verstand. Zur doppelten anthropologischen
Verfasstheit.” Dialoge über Gestaltung, no. 2 (2025). https://doi.org/10.82467/dg.2025.02.230.
ieee: K. Wagner, “Imagination und Verstand. Zur doppelten anthropologischen Verfasstheit,”
Dialoge über Gestaltung, no. 2, 2025.
mla: Wagner, Kirsten. “Imagination und Verstand. Zur doppelten anthropologischen
Verfasstheit.” Dialoge über Gestaltung, no. 2, 2025, doi:https://doi.org/10.82467/dg.2025.02.230.
short: K. Wagner, Dialoge über Gestaltung (2025).
date_created: 2026-01-30T12:33:37Z
date_updated: 2026-03-17T15:29:31Z
doi: https://doi.org/10.82467/dg.2025.02.230
issue: '2'
keyword:
- Artistic research
- imagination and reason
- modes of knowledge
- Gaston Bachelard
- obstacles to objective knowledge
- imagery
- material imagination
- experimentation
language:
- iso: ger
- iso: eng
main_file_link:
- url: https://journals.hsbi.de/dg
publication: Dialoge über Gestaltung
publication_identifier:
issn:
- 3053-8378
publication_status: published
status: public
title: Imagination und Verstand. Zur doppelten anthropologischen Verfasstheit
type: journal_article
user_id: '263827'
year: '2025'
...
---
_id: '4016'
citation:
alphadin: 'Ehrmann, A. (Hrsg.):
3D Printing of MEMS Technology. Basel : MDPI, 2023'
ama: 'Ehrmann A, ed. 3D Printing of MEMS Technology. Basel: MDPI; 2023.
doi:10.3390/books978-3-0365-9771-3'
apa: 'Ehrmann, A. (Ed.). (2023). 3D Printing of MEMS Technology. Basel:
MDPI. https://doi.org/10.3390/books978-3-0365-9771-3'
bibtex: '@book{Ehrmann_2023, place={Basel}, title={ 3D Printing of MEMS Technology},
DOI={10.3390/books978-3-0365-9771-3},
publisher={MDPI}, year={2023} }'
chicago: 'Ehrmann, Andrea, ed. 3D Printing of MEMS Technology. Basel: MDPI,
2023. https://doi.org/10.3390/books978-3-0365-9771-3.'
ieee: 'A. Ehrmann, Ed., 3D Printing of MEMS Technology. Basel: MDPI, 2023.'
mla: Ehrmann, Andrea, editor. 3D Printing of MEMS Technology. MDPI, 2023,
doi:10.3390/books978-3-0365-9771-3.
short: A. Ehrmann, ed., 3D Printing of MEMS Technology, MDPI, Basel, 2023.
date_created: 2023-12-14T14:52:39Z
date_updated: 2026-03-17T15:28:53Z
doi: 10.3390/books978-3-0365-9771-3
editor:
- first_name: Andrea
full_name: Ehrmann, Andrea
id: '223776'
last_name: Ehrmann
orcid: 0000-0003-0695-3905
keyword:
- 3D printed nanostructures and nano-composites for application in MEMS
- Lab-on-a-chip devices
- Microfluidics
- Microelectronics
- Micro-batteries and other energy storage devices
- Micro- and nano-sensors and -actuators (physical
- chemical
- biological)
- Challenges and possible solutions of using 3D printing technologies for MEMS
- Similar approaches related to 3D printing of MEMS technology
language:
- iso: eng
main_file_link:
- open_access: '1'
url: https://mdpi-res.com/bookfiles/book/8445/3D_Printing_of_MEMS_Technology.pdf?v=1702887078
oa: '1'
page: '194'
place: Basel
publication_identifier:
isbn:
- 978-3-0365-9770-6
publication_status: published
publisher: MDPI
quality_controlled: '1'
status: public
title: ' 3D Printing of MEMS Technology'
tmp:
image: /images/cc_by_nc_nd.png
legal_code_url: https://creativecommons.org/licenses/by-nc-nd/4.0/legalcode
name: Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 International
(CC BY-NC-ND 4.0)
short: CC BY-NC-ND (4.0)
type: book_editor
user_id: '231260'
year: '2023'
...
---
_id: '3233'
author:
- first_name: Steven
full_name: Dietrich, Steven
last_name: Dietrich
- first_name: Gunther
full_name: May, Gunther
last_name: May
- first_name: Oliver Utz
full_name: Wetter, Oliver Utz
id: '206920'
last_name: Wetter
orcid: 0000-0003-3223-5050
orcid_put_code_url: https://api.orcid.org/v2.0/0000-0003-3223-5050/work/203603915
- first_name: Holger
full_name: Heeren, Holger
last_name: Heeren
- first_name: Gerhard
full_name: Fohler, Gerhard
last_name: Fohler
citation:
alphadin: 'Dietrich, Steven ; May, Gunther ; Wetter,
Oliver Utz ; Heeren, Holger
; Fohler, Gerhard: Performance indicators
and use case analysis for wireless networks in factory automation. In: 2017
22nd IEEE International Conference on Emerging Technologies and Factory Automation
(ETFA) : IEEE, 2017, S. 1–8'
ama: 'Dietrich S, May G, Wetter OU, Heeren H, Fohler G. Performance indicators and
use case analysis for wireless networks in factory automation. In: 2017 22nd
IEEE International Conference on Emerging Technologies and Factory Automation
(ETFA). IEEE; 2017:1-8. doi:10.1109/ETFA.2017.8247605'
apa: 'Dietrich, S., May, G., Wetter, O. U., Heeren, H., & Fohler, G. (2017).
Performance indicators and use case analysis for wireless networks in factory
automation. In 2017 22nd IEEE International Conference on Emerging Technologies
and Factory Automation (ETFA) (pp. 1–8). Limassol: IEEE. https://doi.org/10.1109/ETFA.2017.8247605'
bibtex: '@inproceedings{Dietrich_May_Wetter_Heeren_Fohler_2017, title={Performance
indicators and use case analysis for wireless networks in factory automation},
DOI={10.1109/ETFA.2017.8247605},
booktitle={2017 22nd IEEE International Conference on Emerging Technologies and
Factory Automation (ETFA)}, publisher={IEEE}, author={Dietrich, Steven and May,
Gunther and Wetter, Oliver Utz and Heeren, Holger and Fohler, Gerhard}, year={2017},
pages={1–8} }'
chicago: Dietrich, Steven, Gunther May, Oliver Utz Wetter, Holger Heeren, and Gerhard
Fohler. “Performance Indicators and Use Case Analysis for Wireless Networks in
Factory Automation.” In 2017 22nd IEEE International Conference on Emerging
Technologies and Factory Automation (ETFA), 1–8. IEEE, 2017. https://doi.org/10.1109/ETFA.2017.8247605.
ieee: S. Dietrich, G. May, O. U. Wetter, H. Heeren, and G. Fohler, “Performance
indicators and use case analysis for wireless networks in factory automation,”
in 2017 22nd IEEE International Conference on Emerging Technologies and Factory
Automation (ETFA), Limassol, 2017, pp. 1–8.
mla: Dietrich, Steven, et al. “Performance Indicators and Use Case Analysis for
Wireless Networks in Factory Automation.” 2017 22nd IEEE International Conference
on Emerging Technologies and Factory Automation (ETFA), IEEE, 2017, pp. 1–8,
doi:10.1109/ETFA.2017.8247605.
short: 'S. Dietrich, G. May, O.U. Wetter, H. Heeren, G. Fohler, in: 2017 22nd IEEE
International Conference on Emerging Technologies and Factory Automation (ETFA),
IEEE, 2017, pp. 1–8.'
conference:
end_date: 2017-09-15
location: Limassol
name: 2017 22nd IEEE International Conference on Emerging Technologies and Factory
Automation (ETFA)
start_date: 2017-09-12
date_created: 2023-06-15T14:04:37Z
date_updated: 2026-03-17T15:28:42Z
department:
- _id: '102'
doi: 10.1109/ETFA.2017.8247605
keyword:
- Factory Automation
- Wireless Communication
- Requirements
- Use Case Analysis
- Reliability
- Packet Error Rate
- Mean Time To Failure
language:
- iso: eng
main_file_link:
- url: https://ieeexplore.ieee.org/document/8247605
page: 1-8
project:
- _id: A827C0AA-C7DA-11E9-B0AE-1F4CB252D58D
name: Institute for Building Intelligence
publication: 2017 22nd IEEE International Conference on Emerging Technologies and
Factory Automation (ETFA)
publication_identifier:
eisbn:
- 978-1-5090-6505-9
publication_status: published
publisher: IEEE
quality_controlled: '1'
status: public
title: Performance indicators and use case analysis for wireless networks in factory
automation
type: conference
user_id: '206920'
year: '2017'
...
---
_id: '1048'
alternative_id:
- '474'
article_number: e92
author:
- first_name: Ruth
full_name: von Brachel, Ruth
last_name: von Brachel
- first_name: Katrin
full_name: Hötzel, Katrin
last_name: Hötzel
- first_name: Gerrit
full_name: Hirschfeld, Gerrit
id: '234690'
last_name: Hirschfeld
orcid: 0000-0003-2143-4564
orcid_put_code_url: https://api.orcid.org/v2.0/0000-0003-2143-4564/work/94759493
- first_name: Elizabeth
full_name: Rieger, Elizabeth
last_name: Rieger
- first_name: Ulrike
full_name: Schmidt, Ulrike
last_name: Schmidt
- first_name: Joachim
full_name: Kosfelder, Joachim
last_name: Kosfelder
- first_name: Tanja
full_name: Hechler, Tanja
last_name: Hechler
- first_name: Dietmar
full_name: Schulte, Dietmar
last_name: Schulte
- first_name: Silja
full_name: Vocks, Silja
last_name: Vocks
citation:
alphadin: 'von
Brachel, Ruth ; Hötzel, Katrin
; Hirschfeld, Gerrit ; Rieger,
Elizabeth ; Schmidt, Ulrike
; Kosfelder, Joachim ; Hechler,
Tanja ; Schulte, Dietmar
; u. a.: Internet-Based Motivation Program for Women With Eating Disorders:
Eating Disorder Pathology and Depressive Mood Predict Dropout. In: Journal
of Medical Internet Research Bd. 16, JMIR Publications Inc. (2014), Nr. 3'
ama: 'von Brachel R, Hötzel K, Hirschfeld G, et al. Internet-Based Motivation Program
for Women With Eating Disorders: Eating Disorder Pathology and Depressive Mood
Predict Dropout. Journal of Medical Internet Research. 2014;16(3). doi:10.2196/jmir.3104'
apa: 'von Brachel, R., Hötzel, K., Hirschfeld, G., Rieger, E., Schmidt, U., Kosfelder,
J., … Vocks, S. (2014). Internet-Based Motivation Program for Women With Eating
Disorders: Eating Disorder Pathology and Depressive Mood Predict Dropout. Journal
of Medical Internet Research, 16(3). https://doi.org/10.2196/jmir.3104'
bibtex: '@article{von Brachel_Hötzel_Hirschfeld_Rieger_Schmidt_Kosfelder_Hechler_Schulte_Vocks_2014,
title={Internet-Based Motivation Program for Women With Eating Disorders: Eating
Disorder Pathology and Depressive Mood Predict Dropout}, volume={16}, DOI={10.2196/jmir.3104}, number={3e92},
journal={Journal of Medical Internet Research}, publisher={JMIR Publications Inc.},
author={von Brachel, Ruth and Hötzel, Katrin and Hirschfeld, Gerrit and Rieger,
Elizabeth and Schmidt, Ulrike and Kosfelder, Joachim and Hechler, Tanja and Schulte,
Dietmar and Vocks, Silja}, year={2014} }'
chicago: 'Brachel, Ruth von, Katrin Hötzel, Gerrit Hirschfeld, Elizabeth Rieger,
Ulrike Schmidt, Joachim Kosfelder, Tanja Hechler, Dietmar Schulte, and Silja Vocks.
“Internet-Based Motivation Program for Women With Eating Disorders: Eating Disorder
Pathology and Depressive Mood Predict Dropout.” Journal of Medical Internet
Research 16, no. 3 (2014). https://doi.org/10.2196/jmir.3104.'
ieee: 'R. von Brachel et al., “Internet-Based Motivation Program for Women
With Eating Disorders: Eating Disorder Pathology and Depressive Mood Predict Dropout,”
Journal of Medical Internet Research, vol. 16, no. 3, 2014.'
mla: 'von Brachel, Ruth, et al. “Internet-Based Motivation Program for Women With
Eating Disorders: Eating Disorder Pathology and Depressive Mood Predict Dropout.”
Journal of Medical Internet Research, vol. 16, no. 3, e92, JMIR Publications
Inc., 2014, doi:10.2196/jmir.3104.'
short: R. von Brachel, K. Hötzel, G. Hirschfeld, E. Rieger, U. Schmidt, J. Kosfelder,
T. Hechler, D. Schulte, S. Vocks, Journal of Medical Internet Research 16 (2014).
date_created: 2021-05-31T18:00:51Z
date_updated: 2026-08-05T09:50:36Z
doi: 10.2196/jmir.3104
intvolume: ' 16'
issue: '3'
keyword:
- attrition
- Web-based treatment
- eHealth
- eating disorders
- motivation to change
- anorexia nervosa
- bulimia nervosa
- bootstrapping
- survival analysis
language:
- iso: eng
main_file_link:
- open_access: '1'
oa: '1'
publication: Journal of Medical Internet Research
publication_identifier:
eissn:
- '14388871'
publication_status: published
publisher: JMIR Publications Inc.
status: public
title: 'Internet-Based Motivation Program for Women With Eating Disorders: Eating
Disorder Pathology and Depressive Mood Predict Dropout'
type: journal_article
user_id: '256529'
volume: 16
year: '2014'
...