8 accepted papers
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 automatic synthesis of robot programs, as there are no readily available methods that would allow CAD models to be incorpor
(Semi-)autonomous robotic assistance in minimally invasive surgery has the potential to alleviate surgical staff shortage and decrease the workload of medical professionals. These robots must execute complex tasks within unpredictable and unstructured environments encountered during surgery. Althoug
This paper presents Shadow Program Inversion with Differentiable Planning (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 end, we introduce Differentiable Gaussian Process Motion Planni
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-consuming endeavor. Existing approaches for learning or optimizing these parameters often require numerous real-world exe…
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 RoboGrind, an integrated system for the intuitive, interactive automation of surface treatment tasks with industrial robots.…
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 peg-in-hole tasks are typically subject to stochastic variations, requiring search motions to find relevant features such
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-wise annotation of point clouds representing surgical scenes. As the manual annotation of training data is highly time con…
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. This is time-consuming and difficult for human programmers, particularly for force-controlled skills. To this end, we pre…