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Jörg Franke

5 accepted papers

2026

DRL-SFM: Learning Social Navigation from Costmaps and Social Forces for Mobile Robots and Intelligent Wheelchairs

Matthias Kalenberg, Kilian Gerhard Probst, Andreas Gründer, Christopher May, Jonas Walter, Jörg Franke
ICRA 2026poster

The demand for assistive robots for passenger transport, such as intelligent wheelchairs, is increasing rapidly due to demographic changes. To allow passengers to navigate in crowded environments, such as shopping malls and hospitals, these systems must navigate in a socially accepted manner that en…

Cited by 0Scholar ↗
2026

One Prompt, Many Rooms: A Force-Directed Approach to 3D Scene Generation for Robotics Simulation

Christopher May, Peter Hetzner, Matthias Kalenberg, Ashwin Sajith Nambiar, Jörg Franke, Sebastian Reitelshöfer
ICRA 2026poster

Training generalizable robotic agents requires large datasets of diverse, physically consistent 3D scenes, yet their generation remains a critical bottleneck. Current text-to-scene methods are inefficient for this task; generating diverse layouts requires repeated, expensive sampling that fails to m…

Cited by 0Scholar ↗
2022

Highly Dynamic 2-DOF Cable-Driven Robotic Wrist Based on a Novel Topology

Takeru Nemoto, Jonas Walter, Christian Bachmann, Matthias Gerlich, Sebastian Reitelshöfer, Jörg Franke
RA-L 2022

This letter presents a highly dynamic cable-driven robotic wrist with two degrees of freedom (DOFs). It is based on a novel topology that combines three passive cables for kinematic constraint and the minimal number of active cables for the full control of a movable platform in two rotational DOFs.

Cited by 4Source ↗Scholar ↗
2022

Probabilistic Transformer: Modelling Ambiguities and Distributions for RNA Folding and Molecule Design

Jörg Franke, Frederic Runge, Frank Hutter
NeurIPS 2022accept

Our world is ambiguous and this is reflected in the data we use to train our algorithms. This is particularly true when we try to model natural processes where collected data is affected by noisy measurements and differences in measurement techniques. Sometimes, the process itself is ambiguous, such…

Cited by 16Source ↗PDF ↗code ↗Scholar ↗
2017

Towards phoneme inventory discovery for documentation of unwritten languages

Markus Müller, Jörg Franke, Alex Waibel, Sebastian Stüker
ICASSP 2017accepted

Documenting unwritten languages is a challenging task, even for trained specialists. To help linguists in better and faster documenting new languages is the goal of the French-German ANR-DFG project BULB. To discover the phonetic inventory of a language the project follows three steps: estimating ph…

Cited by 0Source ↗Scholar ↗