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Johannes Huemer

3 accepted papers

2026

A Collision-Free Sway Damping Model Predictive Controller for Safe and Reactive Forestry Crane Navigation

Marc-Philip Ecker, Christoph Froehlich, Johannes Huemer, David Gruber, Bernhard Bischof, Tobias Glück +1
ICRA 2026poster

Forestry cranes operate in dynamic, unstructured outdoor environments where simultaneous collision avoidance and payload sway control are critical for safe navigation. Existing approaches address these challenges separately, either focusing on sway damping with predefined collision-free paths or per…

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2026

PIRATR: Parametric Object Inference for Robotic Applications with Transformers in 3D Point Clouds

Michael Schwingshackl, Fabio Francisco Oberweger, Mario Niedermeyer, Johannes Huemer, Markus Murschitz
ICRA 2026poster

We present PIRATR, an end-to-end 3D object detection framework for robotic use cases in point clouds. Extending PI3DETR, our method streamlines parametric 3D object detection by jointly estimating multi-class 6-DoF poses and class-specific parametric attributes directly from occlusion-affected point…

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2025

Few-Shot Neuro-Symbolic Imitation Learning for Long-Horizon Planning and Acting

Pierrick Lorang, Hong Lu, Johannes Huemer, Patrik Zips, Matthias Scheutz
CoRL 2025poster

Imitation learning enables intelligent systems to acquire complex behaviors with minimal supervision. However, existing methods often focus on short-horizon skills, require large datasets, and struggle to solve long-horizon tasks or generalize across task variations and distribution shifts. We propo…

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