Robot Program Parameter Inference via Differentiable Shadow Program Inversion. - Benjamin Alt; Darko Katic; Rainer Jäkel; Asil Kaan Bozcuoglu; Michael Beetz (ICRA, 2021)

Localization and Tracking of User-Defined Points on Deformable Objects for Robotic Manipulation. - Sven Dittus; Benjamin Alt; Andreas Hermann; Darko Katic; Rainer Jäkel; Jürgen Fleischer (CoRR, 2021)

Heuristic-free Optimization of Force-Controlled Robot Search Strategies in Stochastic Environments. - Benjamin Alt; Darko Katic; Rainer Jäkel; Michael Beetz (IROS, 2022)

LapSeg3D: Weakly Supervised Semantic Segmentation of Point Clouds Representing Laparoscopic Scenes. - Benjamin Alt; Christian Kunz; Darko Katic; Rayan Younis; Rainer Jäkel; Beat Peter Müller-Stich; Martin Wagner 001; Franziska Mathis-Ullrich (IROS, 2022)

Artificial Neural Network Guided Compensation of Nonlinear Payload and Wear Effects for Industrial Robots. - Julian Raible; Oliver Rettig; Benjamin Alt; Alper Yaman; Isabelle Gauger; Lorenzo Biasi; Silvan Müller; Darko Katic; Marcus Strand; Marco F. Huber (CASE, 2023)

Knowledge-Driven Robot Program Synthesis from Human VR Demonstrations. - Benjamin Alt; Franklin Kenghagho Kenfack; Andrei Haidu; Darko Katic; Rainer Jäkel; Michael Beetz (KR, 2023)

EfficientPPS: Part-aware Panoptic Segmentation of Transparent Objects for Robotic Manipulation. - Benjamin Alt; Minh Dang Nguyen; Andreas Hermann 001; Darko Katic; Rainer Jäkel; Rüdiger Dillmann; Eric Sax (CoRR, 2023)

Domain-Specific Fine-Tuning of Large Language Models for Interactive Robot Programming. - Benjamin Alt; Urs Keßner; Aleksandar Taranovic; Darko Katic; Andreas Hermann; Rainer Jäkel; Gerhard Neumann (ERF (1), 2024)

RoboGrind: Intuitive and Interactive Surface Treatment with Industrial Robots. - Benjamin Alt; Florian Stöckl; Silvan Müller; Christopher Braun; Julian Raible; Saad Alhasan; Oliver Rettig; Lukas Ringle; Darko Katic; Rainer Jäkel; Michael Beetz; Marcus Strand; et al. (ICRA, 2024)

MuTT: A Multimodal Trajectory Transformer for Robot Skills. - Claudius Kienle; Benjamin Alt; Onur Celik; Philipp Becker; Darko Katic; Rainer Jäkel; Gerhard Neumann (IROS, 2024)

BANSAI: Towards Bridging the AI Adoption Gap in Industrial Robotics with Neurosymbolic Programming. - Benjamin Alt; Julia Dvorak; Darko Katic; Rainer Jäkel; Michael Beetz; Gisela Lanza (CoRR, 2024)

Human-AI Interaction in Industrial Robotics: Design and Empirical Evaluation of a User Interface for Explainable AI-Based Robot Program Optimization. - Benjamin Alt; Johannes Zahn; Claudius Kienle; Julia Dvorak; Marvin Carl May; Darko Katic; Rainer Jäkel; Tobias Kopp; Michael Beetz; Gisela Lanza (CoRR, 2024)

Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization. - Benjamin Alt; Claudius Kienle; Darko Katic; Rainer Jäkel; Michael Beetz (CoRR, 2024)

QueryCAD: Grounded Question Answering for CAD Models. - Claudius Kienle; Benjamin Alt; Darko Katic; Rainer Jäkel (CoRR, 2024)

Neurosymbolic Robot Programming: A Framework for AI-Enabled Programming of Robot Manipulation Tasks: Neurosymbolische Roboterprogrammierung: Ein Rahmenwerk für die Programmierung von Robotern für Handhabungsaufgaben mit Künstlicher Intelligenz. - Benjamin Alt (2025)

AI-based Framework for Robust Model-Based Connector Mating in Robotic Wire Harness Installation. - Claudius Kienle; Benjamin Alt; Finn Schneider; Tobias Pertlwieser; Rainer Jäkel; Rania Rayyes (CoRR, 2025)

Digital Twin Generation from Visual Data: A Survey. - Andrew Melnik; Benjamin Alt; Giang Nguyen; Artur Wilkowski; Maciej Stefanczyk; Qirui Wu; Sinan Harms; Helge Rhodin; Manolis Savva; Michael Beetz (CoRR, 2025)

LODGE: Joint Hierarchical Task Planning and Learning of Domain Models with Grounded Execution. - Claudius Kienle; Benjamin Alt; Oleg Arenz; Jan Peters 001 (CoRR, 2025)

Semi-Autonomous Robotic Assistance for Gallbladder Retraction in Surgery. - Alexander Schüßler; Christian Kunz; Rayan Younis; Benjamin Alt; Jamie Paik; Martin Wagner 001; Franziska Mathis-Ullrich (IEEE Robotics Autom. Lett., 2025)

Open, Reproducible and Trustworthy Robot-Based Experiments with Virtual Labs and Digital-Twin-Based Execution Tracing. - Benjamin Alt; Mareike Picklum; Sorin Arion; Franklin Kenghagho Kenfack; Michael Beetz (CoRR, 2025)