Sebastian Wrede — accepted AI-conference papers

2026

SHaRe-RL: Structured, Interactive Reinforcement Learning for Contact-Rich Industrial Assembly Tasks

Jannick Stranghöner, Philipp Hartmann, Lisa-Marie Weigelt, Marco Braun, Sebastian Wrede, Klaus Neumann

ICRA 2026poster

High-mix low-volume (HMLV) industrial assembly, common in small and medium-sized enterprises (SMEs), requires the same precision, safety, and reliability as high-volume automation while remaining flexible to product variation and environmental uncertainty. Current robotic systems struggle to meet th…

Cited by 0 Source ↗PDF ↗Scholar ↗

2025

Automated Behaviour-Driven Acceptance Testing of Robotic Systems

Minh Nguyen, Sebastian Wrede, Nico Hochgeschwender

IROS 2025

The specification and validation of robotics applications require bridging the gap between formulating requirements and systematic testing. This often involves manual and error-prone tasks that become more complex as requirements, design, and implementation evolve. To address this challenge systemat

Cited by 1 Source ↗Scholar ↗

2023

Grey-Box Learning of Adaptive Manipulation Primitives for Robotic Assembly

Marco Braun, Sebastian Wrede

ICRA 2023poster

Autonomous learning of robotic manipulation tasks is a promising approach to reduce manual engineering effort and increase flexibility in the future of industrial manufacturing. Although a lot of research has been done especially robotic assembly tasks requiring contact-rich compliant interaction re…

Cited by 1 Source ↗Scholar ↗

2020

Model-Based Specification of Control Architectures for Compliant Interaction with the Environment

Dennis Leroy Wigand, Niels Dehio, Sebastian Wrede

IROS 2020poster

In recent years the need for manipulation tasks in the industrial as well as in the service robotics domain that require compliant interaction with the environment rose. Since then, an increased number of publications use a model-driven approach to describe these tasks. High-level tasks and sequence…

Cited by 3 Source ↗Scholar ↗

2016

Autonomous fault detection for performance bugs in component-based robotic systems

Johannes Wienke, Sebastian Wrede

IROS 2016poster

We present a novel fault detection method for application in component-based robotic systems. In contrast to existing work, our method specifically addresses faults in the software system of the robot using a data-driven methodology which exploits the inter-process communication of the system. This…

Cited by 19 Source ↗Scholar ↗

2016

Towards automated system and experiment reproduction in robotics

Florian Lier, Marc Hanheide, Lorenzo Natale, Simon Schulz, Jonathan Weisz, Sven Wachsmuth +1

IROS 2016poster

Even though research on autonomous robots and human-robot interaction accomplished great progress in recent years, and reusable soft- and hardware components are available, many of the reported findings are only hardly reproducible by fellow scientists. Usually, reproducibility is impeded because re…

Cited by 22 Source ↗Scholar ↗

2015

Modeling of movement control architectures based on motion primitives using domain-specific languages

Arne Nordmann, Sebastian Wrede, Jochen Steil

ICRA 2015poster

This paper introduces a model-driven approach for engineering complex movement control architectures based on motion primitives, which in recent years have been a central development towards adaptive and flexible control of complex and compliant robots. We consider rich motor skills realized through…

Cited by 25 Source ↗Scholar ↗