Darko Katić
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View article: Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization
Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization Open
This paper presents 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 DGPMP2-ND, a differentiable collision-fr…
View article: QueryCAD: Grounded Question Answering for CAD Models
QueryCAD: Grounded Question Answering for CAD Models Open
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…
View article: EASY: Energy-Efficient Analysis and Control Processes in the Dynamic Edge-Cloud Continuum for Industrial Manufacturing
EASY: Energy-Efficient Analysis and Control Processes in the Dynamic Edge-Cloud Continuum for Industrial Manufacturing Open
According to the guiding principles of Industry 4.0, edge computing enables the data-sovereign and near-real-time processing of data directly at the point of origin. Using these edge devices in manufacturing organization will drive the use…
View article: MuTT: A Multimodal Trajectory Transformer for Robot Skills
MuTT: A Multimodal Trajectory Transformer for Robot Skills Open
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 opti…
View article: Human-AI Interaction in Industrial Robotics: Design and Empirical Evaluation of a User Interface for Explainable AI-Based Robot Program Optimization
Human-AI Interaction in Industrial Robotics: Design and Empirical Evaluation of a User Interface for Explainable AI-Based Robot Program Optimization Open
While recent advances in deep learning have demonstrated its transformative potential, its adoption for real-world manufacturing applications remains limited. We present an Explanation User Interface (XUI) for a state-of-the-art deep learn…
View article: BANSAI: Towards Bridging the AI Adoption Gap in Industrial Robotics with Neurosymbolic Programming
BANSAI: Towards Bridging the AI Adoption Gap in Industrial Robotics with Neurosymbolic Programming Open
Over the past decade, deep learning helped solve manipulation problems across all domains of robotics. At the same time, industrial robots continue to be programmed overwhelmingly using traditional program representations and interfaces. T…
View article: RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots
RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots Open
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 a…
View article: Domain-Specific Fine-Tuning of Large Language Models for Interactive Robot Programming
Domain-Specific Fine-Tuning of Large Language Models for Interactive Robot Programming Open
Industrial robots are applied in a widening range of industries, but robot programming mostly remains a task limited to programming experts. We propose a natural language-based assistant for programming of advanced, industrial robotic appl…
View article: EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation
EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation Open
The use of autonomous robots for assistance tasks in hospitals has the potential to free up qualified staff and im-prove patient care. However, the ubiquity of deformable and transparent objects in hospital settings poses signif-icant chal…
View article: Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations
Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations Open
Aging societies, labor shortages and increasing wage costs call for assistance robots capable of autonomously performing a wide array of real-world tasks. Such open-ended robotic manipulation requires not only powerful knowledge representa…
View article: Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations
Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations Open
Aging societies, labor shortages and increasing wage costs call for assistance robots capable of autonomously performing a wide array of real-world tasks. Such open-ended robotic manipulation requires not only powerful knowledge representa…
View article: LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes
LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes Open
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.…
View article: Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments
Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments Open
In both industrial and service domains, a central benefit of the use of\nrobots is their ability to quickly and reliably execute repetitive tasks.\nHowever, even relatively simple peg-in-hole tasks are typically subject to\nstochastic vari…
View article: LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes
LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes Open
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.…
View article: Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments
Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments Open
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 variati…
View article: Robot Program Parameter Inference via Differentiable Shadow Program Inversion
Robot Program Parameter Inference via Differentiable Shadow Program Inversion Open
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, …
View article: Localization and Tracking of User-Defined Points on Deformable Objects\n for Robotic Manipulation
Localization and Tracking of User-Defined Points on Deformable Objects\n for Robotic Manipulation Open
This paper introduces an efficient procedure to localize user-defined points\non the surface of deformable objects and track their positions in 3D space over\ntime. To cope with a deformable object's infinite number of DOF, we propose a\nd…
View article: Localization and Tracking of User-Defined Points on Deformable Objects for Robotic Manipulation
Localization and Tracking of User-Defined Points on Deformable Objects for Robotic Manipulation Open
This paper introduces an efficient procedure to localize user-defined points on the surface of deformable objects and track their positions in 3D space over time. To cope with a deformable object's infinite number of DOF, we propose a disc…
View article: Which deep artifical neural network architecture to use for anomaly detection in Mobile Robots kinematic data?
Which deep artifical neural network architecture to use for anomaly detection in Mobile Robots kinematic data? Open
Small humps on the floor go beyond the detectable scope of laser scanners and are therefore not integrated into SLAM based maps of mobile robots. However, even such small irregularities can have a tremendous effect on the robot's stability…
View article: Real-time image-based instrument classification for laparoscopic surgery
Real-time image-based instrument classification for laparoscopic surgery Open
During laparoscopic surgery, context-aware assistance systems aim to alleviate some of the difficulties the surgeon faces. To ensure that the right information is provided at the right time, the current phase of the intervention has to be …
View article: Surgical Data Science: A Consensus Perspective
Surgical Data Science: A Consensus Perspective Open
Surgical data science is a scientific discipline with the objective of improving the quality of interventional healthcare and its value through capturing, organization, analysis, and modeling of data. The goal of the 1st workshop on Surgic…
View article: What does it all mean? Capturing Semantics of Surgical Data and Algorithms with Ontologies
What does it all mean? Capturing Semantics of Surgical Data and Algorithms with Ontologies Open
Every year approximately 234 million major surgeries are performed, leading to plentiful, highly diverse data. This is accompanied by a matching number of novel algorithms for the surgical domain. To garner all benefits of surgical data sc…
View article: Unsupervised temporal context learning using convolutional neural networks for laparoscopic workflow analysis
Unsupervised temporal context learning using convolutional neural networks for laparoscopic workflow analysis Open
Computer-assisted surgery (CAS) aims to provide the surgeon with the right type of assistance at the right moment. Such assistance systems are especially relevant in laparoscopic surgery, where CAS can alleviate some of the drawbacks that …
View article: A Semantic Framework for Sequential Decision Making.
A Semantic Framework for Sequential Decision Making. Open
Current developments in the medical domain, not unlike many other sectors, are marked by the growing digitalisation of data, including patient records, study results, clinical guidelines or imagery. This trend creates the opportunity for t…