9 citations · 23 across the 10 of their papers we have counts for
10 papers
MuTT: A Multimodal Trajectory Transformer for Robot Skills
Claudius Kienle, Benjamin Alt, Onur Celik +4
High-level robot skills represent an increasingly popular paradigm in robot programming. However, configuring the skills' parameters for a specific task remains a manual and time-c…
Human-AI Interaction in Industrial Robotics: Design and Empirical Evaluation of a User Interface for Explainable AI-Based Robot Program Optimization
Benjamin Alt, Johannes Zahn, Claudius Kienle +7
While recent advances in deep learning have demonstrated its transformative potential, its adoption for real-world manufacturing applications remains limited. We present an Explana…
BANSAI: Towards Bridging the AI Adoption Gap in Industrial Robotics with Neurosymbolic Programming
Benjamin Alt, Julia Dvorak, Darko Katic +3
Over the past decade, deep learning helped solve manipulation problems across all domains of robotics. At the same time, industrial robots continue to be programmed overwhelmingly…
RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots
Benjamin Alt, Florian Stöckl, Silvan Müller +10
Surface treatment tasks such as grinding, sanding or polishing are a vital step of the value chain in many industries, but are notoriously challenging to automate. We present RoboG…
Domain-Specific Fine-Tuning of Large Language Models for Interactive Robot Programming
Benjamin Alt, Urs Keßner, Aleksandar Taranovic +4
Industrial robots are applied in a widening range of industries, but robot programming mostly remains a task limited to programming experts. We propose a natural language-based ass…
Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations
Benjamin Alt, Franklin Kenghagho Kenfack, Andrei Haidu +3
Aging societies, labor shortages and increasing wage costs call for assistance robots capable of autonomously performing a wide array of real-world tasks. Such open-ended robotic m…
Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments
Benjamin Alt, Darko Katic, Rainer Jäkel +1
In both industrial and service domains, a central benefit of the use of robots is their ability to quickly and reliably execute repetitive tasks. However, even relatively simple pe…
LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes
Benjamin Alt, Christian Kunz, Darko Katic +5
The semantic segmentation of surgical scenes is a prerequisite for task automation in robot assisted interventions. We propose LapSeg3D, a novel DNN-based approach for the voxel-wi…
Localization and Tracking of User-Defined Points on Deformable Objects for Robotic Manipulation
Sven Dittus, Benjamin Alt, Andreas Hermann +3
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a de…
Robot Program Parameter Inference via Differentiable Shadow Program Inversion
Benjamin Alt, Darko Katic, Rainer Jäkel +2
Challenging manipulation tasks can be solved effectively by combining individual robot skills, which must be parameterized for the concrete physical environment and task at hand. T…