Alexander Puchta — accepted AI-conference papers

2026

From CAD to POMDP: Probabilistic Planning for Robotic Disassembly of End-Of-Life Products

Jan Baumgärtner, Malte Hansjosten, David Hald, Adrian Hauptmannl, Alexander Puchta, Jürgen Fleischer

ICRA 2026poster

To support the circular economy, robotic systems must not only assemble new products but also disassemble end-of-life (EOL) ones for reuse, recycling, or safe disposal. Existing approaches to disassembly sequence planning often assume deterministic and fully observable product models, yet real EOL p…

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2025

Learning Optimal Design Manifolds to Design More Practical Robotic Systems

Jan Baumgärtner, Alexander Puchta, Jürgen Fleischer

ICRA 2025

This paper introduces the optimal design manifold as a novel approach for understanding and optimizing the design of robotic systems. Existing optimization frameworks often jointly optimize design and behavior but lack insight into why specific designs are optimal for given tasks. Additionally, a fu

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2024

One Problem, One Solution: Unifying Robot Design and Cell Layout Optimization

Jan Baumgärtner, Alexander Puchta, Jürgen Fleischer

IROS 2024poster

The task-specific optimization of robotic systems has since the inception of the field been divided into the optimization of the robot and the optimization of the layout of its workstations. In this letter, we argue that these two problems are interdependent and should be treated as such. To this en…

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