Bernhard M. Weber — accepted AI-conference papers

2025

Design and Effectiveness of Virtual Monitors and AR-Based Endoscope Control for Robotically Assisted Laparoscopic Surgery

Nikola Budjakoski, Dominik Schneider, Tianyu Song, Michael Sommersperger, Bernhard M. Weber, Nassir Navab +1

ICRA 2025

Managing indirect access in laparoscopy as a minimally invasive procedure poses challenges to physicians. In particular, an endoscope must be navigated to achieve adequate visualization of the surgical anatomy, while coping with unergonomic poses, tremor, and fatigue. Furthermore, the alignment of v

Cited by 1 Source ↗Scholar ↗

2025

RACCOON: Grounding Embodied Question-Answering with State Summaries from Existing Robot Modules

Samuel Bustamante-Gomez, Markus Knauer, Jeremias Thun, Stefan Schneyer, Alin Albu-Schäffer, Bernhard M. Weber +1

ICRA 2025

Explainability is vital for establishing user trust, also in robotics. Recently, foundation models (e.g. vision-language models, VLMs) fostered a wave of embodied agents that answer arbitrary queries about their environment and their interactions with it. However, naively prompting VLMs to answer qu

Cited by 5 Source ↗Scholar ↗

2024

A Probabilistic Approach to Multi-Modal Adaptive Virtual Fixtures

Maximilian Mühlbauer, Thomas Hulin, Bernhard M. Weber, Sylvain Calinon, Freek Stulp, Alin Albu-Schäffer +1

RA-L 2024

Virtual Fixtures (VFs) provide haptic feedback for teleoperation, typically requiring distinct input modalities for different phases of a task. This often results in vision- and position-based fixtures. Vision-based fixtures, particularly, require the handling of visual uncertainty, as well as targe

Cited by 12 Source ↗Scholar ↗

2016

KONTUR-2: Force-feedback teleoperation from the international space station

Jordi Artigas, Ribin Balachandran, Cornelia Riecke, Martin Stelzer, Bernhard M. Weber, Jee-Hwan Ryu +1

ICRA 2016

This paper presents a new robot controller for space telerobotics missions specially designed to meet the requirements of KONTUR-2, a German & Russian telerobotics mission that addressed scientific and technological questions for future planetary explorations. In KONTUR-2, Earth and ISS have been us

Cited by 96 Source ↗Scholar ↗