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Benjamin Heltzel I am a Master's student in Robotics, Cognition, and Intelligence at TUM. My current research focuses on physically-grounded world models, 4D computer vision, and robot learning. Previously, I completed research projects with Prof. Berthold Bäuml, Prof. Angela Dai, and Prof. Matthias Niessner. I received my Bachelor's degree in Engineering Science, specializing in machine learning, from TUM. In 2018, I co-founded Seismos Network, where we built an earthquake early warning network on crowdsourced phone accelerometer data via neural networks. |
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Research
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Towards Sim2Real Transfer in Robotic Reinforcement Learning via Proprioceptive Self-Adaptation
Benjamin Heltzel·Leon Sievers·Prof. Berthold Bäuml We demonstrate real-time proprioceptive adaptation to unknown intrinsic robot dynamics in dexterous in-hand manipulation, paving the way for long-term deployment without re-calibration downtime. |
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SAC2: Rapid Adaptation to Random Disturbances in Partial Observability via Off-Policy Meta-Reinforcement Learning
Benjamin Heltzel·Leon Sievers·Prof. Berthold Bäuml An asymmetric LSTM-based meta-RL variant of Soft Actor-Critic enables real-time adaptation by inferring hidden task dynamics from history in POMDPs. |
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PromptScene: Adaptive Prompt Learning for Open-Vocabulary 3D Instance Segmentation
Benjamin Heltzel, Simon Blessmann, Ayaka Nanri Mohamed El Amine Boudjoghra·Prof. Angela Dai Adaptive prompt learning in OpenScene with Mask3D class-agnostic instance grouping enables flexible 3D object recognition without predefined labels. |
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Dif-fused DINO-tracker: Zero-shot Point Tracking with Video Diffusion Motion Features
Benjamin Heltzel·Dr. Lei Li·Prof. Matthias Niessner Cross-attention fusion of temporal representations from video diffusion models with DINO features improves zero-shot point tracking coherence. |
Startups
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Seismos Network
Co-founder We built Seismos to provide global earthquake early warning alerts with ML-based real-time earthquake detection on crowdsourced phone accelerometer data. In the US, the app was also slated to deliver USGS ShakeAlert notifications for CA, OR, and WA. |
Talks
Prof. Christian Grosse - TUM Non-destructive Testing Lab,
Prof. Steven Glaser - UC Berkeley Seismo Lab
Teaching
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Design based on Haoran Geng's website, with source code from Jon Barron and Jekyll fork by Leonid Keselman. |