6 papers · 1 filter
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…