A. René Geist

I’m a postdoc at the University of Tübingen and the Max Planck Institute for Intelligent Systems, Tübingen working with Georg Martius. My research focuses on data-driven dynamics simulators for robotics.

I’ve been a postdoc at the RWTH Aachen with Sebastian Trimpe working on physics-informed neuralODEs. During my PhD supervised by Sebastian Trimpe at the Max Planck Institute for Intelligent Systems Stuttgart, I developed probabilistic models to learn implicitly-constrained robot dynamics. I also developed the “Wheelbot” being a robot platform for teaching control theory and robotics.

During my Master’s in Theoretical Mechanical Engineering at TU Hamburg, I worked on end-to-end vehicle control as a research intern at the Vehicle Dynamics and Control laboratory of the University of California, Berkeley and as a research student on autonomous field exploration via AUV swarms at TU Hamburg.

news

May 15, 2023	🪐 “Learning with 3D rotations, a hitchhiker’s guide to SO(3)” 🪐 has been accepted to ICML 2024!
May 15, 2023	I’ve joined Georg Martius’ Autonomous Learning group for a postdoc
Aug 19, 2022	“The Wheelbot: A Jumping Reaction Wheel Unicycle” has been nominated for an award at IROS 2022

selected publications

Pseudo-rigid body networks: learning interpretable deformable object dynamics from partial observations

Shamil Mamedov , A. René Geist, Jan Swevers , and 1 more author

2024

Bib PDF Website

@misc{mamedov2024pseudorigid,
  dyn = {true},
  title = {Pseudo-rigid body networks: learning interpretable deformable object dynamics from partial observations},
  author = {Mamedov, Shamil and Geist, A. René and Swevers, Jan and Trimpe, Sebastian},
  year = {2024},
  eprint = {2307.07975},
  archiveprefix = {arXiv},
  primaryclass = {cs.RO},
  url = {https://arxiv.org/abs/2307.07975},
}

The Wheelbot: A jumping reaction wheel unicycle

A. René Geist, Jonathan Fiene , Naomi Tashiro , and 2 more authors

IEEE Robotics and Automation Letters, 2022

Bib PDF Video Website

@article{geist2022wheelbot,
  des = {true},
  author = {Geist, A. Ren\'e and Fiene, Jonathan and Tashiro, Naomi and Jia, Zheng and Trimpe, Sebastian},
  journal = {IEEE Robotics and Automation Letters},
  title = {The Wheelbot: A jumping reaction wheel unicycle},
  year = {2022},
  number = {4},
  pages = {9683-9690},
  volume = {7},
  doi = {10.1109/LRA.2022.3192654},
  url = {https://ieeexplore.ieee.org/abstract/document/9834094},
}

Learning constrained dynamics with Gauss principle adhering Gaussian processes

A. René Geist, and Sebastian Trimpe

In Proceedings of the 2nd Conference on Learning for Dynamics and Control , Jun 2020

Bib PDF

@inproceedings{geist2020gauss,
  dyn = {true},
  author = {Geist, A. Ren\'e and Trimpe, Sebastian},
  booktitle = {Proceedings of the 2nd Conference on Learning for Dynamics and Control},
  title = {Learning constrained dynamics with Gauss principle adhering Gaussian processes},
  year = {2020},
  month = jun,
  pages = {225--234},
  publisher = {PMLR},
  series = {Proceedings of Machine Learning Research (PMLR)},
  volume = {120},
  editors = {Bayen, Alexandre M. and Jadbabaie, Ali and Pappas, George and Parrilo, Pablo A. and Recht, Benjamin and Tomlin, Claire and Zeilinger, Melanie},
  url = {https://proceedings.mlr.press/v120/geist20a.html},
}

Learning with 3D rotations, a hitchhiker’s guide to SO(3)

A. René Geist, Jonas Frey , Mikel Zobro , and 2 more authors

Jun 2024

Bib PDF

@misc{geist2024learning,
  bas = {true},
  title = {Learning with 3D rotations, a hitchhiker's guide to SO(3)},
  author = {Geist, A. René and Frey, Jonas and Zobro, Mikel and Levina, Anna and Martius, Georg},
  year = {2024},
  eprint = {2404.11735},
  archiveprefix = {arXiv},
  primaryclass = {cs.LG},
  url = {https://arxiv.org/abs/2404.11735},
}