1 citations · 1 across the 7 of their papers we have counts for
7 papers
Learning Hierarchical Domain Models Through Environment-Grounded Interaction
Claudius Kienle, Benjamin Alt, Oleg Arenz +1
Domain models enable autonomous agents to solve long-horizon tasks by producing interpretable plans. However, in open-world environments, a single general domain model cannot captu…
AI-based Framework for Robust Model-Based Connector Mating in Robotic Wire Harness Installation
Claudius Kienle, Benjamin Alt, Finn Schneider +3
Despite the widespread adoption of industrial robots in automotive assembly, wire harness installation remains a largely manual process, as it requires precise and flexible manipul…
QueryCAD: Grounded Question Answering for CAD Models
Claudius Kienle, Benjamin Alt, Darko Katic +2
CAD models are widely used in industry and are essential for robotic automation processes. However, these models are rarely considered in novel AI-based approaches, such as the aut…
Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization
Benjamin Alt, Claudius Kienle, Darko Katic +2
This paper presents SPI-DP, a novel first-order optimizer capable of optimizing robot programs with respect to both high-level task objectives and motion-level constraints. To that…
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…
Multi-Object Self-Supervised Depth Denoising
Claudius Kienle, David Petri
Depth cameras are frequently used in robotic manipulation, e.g. for visual servoing. The quality of small and compact depth cameras is though often not sufficient for depth reconst…