arXiv subjects

Maximilian Mühlbauer

Publications and source records attributed to Maximilian Mühlbauer.

9 recordsLinked to original sources

arXiv2026

MOMO: A framework for seamless physical, verbal, and graphical robot skill learning and adaptation

Industrial robot applications require increasingly flexible systems that non-expert users can easily adapt for varying tasks and environments. However, different adaptations benefit from different interaction modalities. We present an interactive framework that enables robot skill adaptation through three complementary modalities: kinesthetic touch for precise spatial corrections, natural language for high-level semantic modifications, and a graphical web interface for visualizing geometric relations and trajectories, inspecting and adjusting parameters, and editing via-points by drag-and-drop. The framework integrates five components: energy-based human-intention detection, a tool-based LLM architecture (where the LLM selects and parameterizes predefined functions rather than generating code) for safe natural language adaptation, Kernelized Movement Primitives (KMPs) for motion encoding, probabilistic Virtual Fixtures for guided demonstration recording, and ergodic control for surface finishing. We demonstrate that this tool-based LLM architecture generalizes skill adaptation from KMPs to ergodic control, enabling voice-commanded surface finishing. Validation on a 7-DoF torque-controlled robot at the Automatica 2025 trade fair demonstrates the practical applicability of our approach in industrial settings.

cs.RO↗

arXiv2026

Passive Variable Impedance For Shared Control

Shared Control methods often use impedance control to track target poses in a robotic manipulator. The guidance behavior of such controllers is shaped by the used stiffness gains, which can be varying over time to achieve an adaptive guiding. When multiple target poses are tracked at the same time with varying importance, the corresponding output wrenches have to be arbitrated with weightings changing over time. In this work, we study the stabilization of both variable stiffness in impedance control as well as the arbitration of different controllers through a scaled addition of their output wrenches, reformulating both into a holistic framework. We identify passivity violations in the closed loop system and provide methods to passivate the system. The resulting approach can be used to stabilize standard impedance controllers, allowing for the development of novel and flexible shared control methods. We do not constrain the design of stiffness matrices or arbitration factors; both can be matrix-valued including off-diagonal elements and change arbitrarily over time. The proposed methods are furthermore validated in simulation as well as in real robot experiments on different systems, proving their effectiveness and showcasing different behaviors which can be utilized depending on the requirements of the shared control approach.

cs.RO↗

arXiv2026

A Unified Framework for Probabilistic Dynamic-, Trajectory- and Vision-based Virtual Fixtures

Probabilistic Virtual Fixtures (VFs) enable the adaptive selection of the most suitable haptic feedback for each phase of a task, based on learned or perceived uncertainty. While keeping the human in the loop remains essential, for instance, to ensure high precision, partial automation of certain task phases is critical for productivity. We present a unified framework for probabilistic VFs that seamlessly switches between manual fixtures, semi-automated fixtures (with the human handling precise tasks), and full autonomy. We introduce a novel probabilistic Dynamical System-based VF for coarse guidance, enabling the robot to autonomously complete certain task phases while keeping the human operator in the loop. For tasks requiring precise guidance, we extend probabilistic position-based trajectory fixtures with automation, allowing for seamless human interaction, geometry-awareness and optimal impedance gains. For manual tasks requiring very precise guidance, we also extend visual servoing fixtures with the same geometry-awareness and impedance behavior. We validate our approach on different robots, including an evaluation with expert users, showcasing operation modes, the ease of programming fixtures and lower interaction forces and favorable usability compared to a baseline.

cs.RO↗

arXiv2024

Software for the SpaceDREAM Robotic Arm

Impedance-controlled robots are widely used on Earth to perform interaction-rich tasks and will be a key enabler for In-Space Servicing, Assembly and Manufacturing (ISAM) activities. This paper introduces the software architecture used on the On-Board Computer (OBC) for the planned SpaceDREAM mission aiming to validate such robotic arm in Lower Earth Orbit (LEO) conducted by the German Aerospace Center (DLR) in cooperation with KINETIK Space GmbH and the Technical University of Munich (TUM). During the mission several free motion as well as contact tasks are to be performed in order to verify proper functionality of the robot in position and impedance control on joint level as well as in cartesian control. The tasks are selected to be representative for subsequent servicing missions e.g. requiring interface docking or precise manipulation. The software on the OBC commands the robot's joints via SpaceWire to perform those mission tasks, reads camera images and data from additional sensors and sends telemetry data through an Ethernet link via the spacecraft down to Earth. It is set up to execute a predefined mission after receiving a start signal from the spacecraft while it should be extendable to receive commands from Earth for later missions. Core design principle was to reuse as much existing software and to stay as close as possible to existing robot software stacks at DLR. This allowed for a quick full operational start of the robot arm compared to a custom development of all robot software, a lower entry barrier for software developers as well as a reuse of existing libraries. While not every line of code can be tested with this design, most of the software has already proven its functionality through daily execution on multiple robot systems.

cs.RO↗

arXiv2024

Cuvis.Ai: An Open-Source, Low-Code Software Ecosystem for Hyperspectral Processing and Classification

Machine learning is an important tool for analyzing high-dimension hyperspectral data; however, existing software solutions are either closed-source or inextensible research products. In this paper, we present cuvis.ai, an open-source and low-code software ecosystem for data acquisition, preprocessing, and model training. The package is written in Python and provides wrappers around common machine learning libraries, allowing both classical and deep learning models to be trained on hyperspectral data. The codebase abstracts processing interconnections and data dependencies between operations to minimize code complexity for users. This software package instantiates nodes in a directed acyclic graph to handle all stages of a machine learning ecosystem, from data acquisition, including live or static data sources, to final class assignment or property prediction. User-created models contain convenient serialization methods to ensure portability and increase sharing within the research community. All code and data are available online: https://github.com/cubert-hyperspectral/cuvis.ai

cs.LG↗

arXiv2024

AI-enabled Cyber-Physical In-Orbit Factory -- AI approaches based on digital twin technology for robotic small satellite production

With the ever increasing number of active satellites in space, the rising demand for larger formations of small satellites and the commercialization of the space industry (so-called New Space), the realization of manufacturing processes in orbit comes closer to reality. Reducing launch costs and risks, allowing for faster on-demand deployment of individually configured satellites as well as the prospect for possible on-orbit servicing for satellites makes the idea of realizing an in-orbit factory promising. In this paper, we present a novel approach to an in-orbit factory of small satellites covering a digital process twin, AI-based fault detection, and teleoperated robot-control, which are being researched as part of the "AI-enabled Cyber-Physical In-Orbit Factory" project. In addition to the integration of modern automation and Industry 4.0 production approaches, the question of how artificial intelligence (AI) and learning approaches can be used to make the production process more robust, fault-tolerant and autonomous is addressed. This lays the foundation for a later realisation of satellite production in space in the form of an in-orbit factory. Central aspect is the development of a robotic AIT (Assembly, Integration and Testing) system where a small satellite could be assembled by a manipulator robot from modular subsystems. Approaches developed to improving this production process with AI include employing neural networks for optical and electrical fault detection of components. Force sensitive measuring and motion training helps to deal with uncertainties and tolerances during assembly. An AI-guided teleoperated control of the robot arm allows for human intervention while a Digital Process Twin represents process data and provides supervision during the whole production process. Approaches and results towards automated satellite production are presented in detail.

cs.RO↗

arXiv2022

Cutkosky's Theorem for Massive One-Loop Feynman Integrals -- Part 1

We formulate and prove Cutkosky's Theorem regarding the discontinuity of Feynman integrals in the massive one-loop case up to the involved intersection index. This is done by applying the techniques to treat singular integrals developed in \cite{app-iso}. We write one-loop integrals as an integral of a holomorphic family of holomorphic forms over a compact cycle. Then, we determine at which points simple pinches occur and explicitly compute a representative of the corresponding vanishing sphere. This also yields an algorithm to compute the Landau surface of a one-loop graph without explicitly solving the Landau equations. We also discuss the bubble, triangle and box graph in detail.

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arXiv2022

On the Homology of Unions of Certain Non-Degenerate Quadrics in General Position

Motivated by problems arising in the complex analysis of perturbative quantum field theory, we investigate the homology of finite unions of certain non-degenerate quadratic affine hypersurfaces of complex dimension $n$ in general position. The homology of such unions and the homology of $\mathbb{C}^{n+1}$ relative to such unions is decomposed into a direct sum of homology groups of the various possible intersections of these hypersurfaces. This allows us to compute the homology groups up to isomorphism. Furthermore, we compute an explicit set of generators for a specific arrangement of these hypersurfaces by constructing a sufficiently large CW-subcomplex of the union in question. The intersection indices of all generators with the Borel-Moore homology class of $(i\cdot\mathbb{R})^{n+1}$ in the complement of the union of surfaces are computed.

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arXiv2020

Momentum Space Landau Equations Via Isotopy Techniques

We investigate the analytic structure of functions defined by integrals with integrands singular on a finite union of quadrics. The main motivation comes from Feynman integrals which belong to this class. Using isotopy techniques we derive the Landau equations in momentum space from the theory of Feynman integrals and generalize these equations to naturally include singularities of the second type. For this purpose we introduce a regularization of analytic families of quadratic forms rendering the isotopy techniques applicable. In the case of Feynman integrals we comment on what is known about the behavior on the principal branch where only specific solutions of the Landau equations contribute to non-analytic points. Finally we discuss compatibility with renormalization.

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