Christoph Böhm

Sebastian Haug, Christoph Böhm, Daniel Mayer

This paper proposes a method for generating software components for embedded systems, integrating seamlessly into existing implementations without developer intervention. We demonstrate this by automatically generating hardware abstraction layer (HAL) code for GPIO operations on the STM32F407 microcontroller. Using Abstract Syntax Trees (AST) for code analysis and Retrieval-Augmented Generation (RAG) for component generation, our approach enables autonomous code completion for embedded applications.

Stefan Ainetter, Christoph Böhm, Rohit Dhakate et al.

In this paper, we present a novel deep neural network architecture for joint class-agnostic object segmentation and grasp detection for robotic picking tasks using a parallel-plate gripper. We introduce depth-aware Coordinate Convolution (CoordConv), a method to increase accuracy for point proposal based object instance segmentation in complex scenes without adding any additional network parameters or computation complexity. Depth-aware CoordConv uses depth data to extract prior information about the location of an object to achieve highly accurate object instance segmentation. These resulting segmentation masks, combined with predicted grasp candidates, lead to a complete scene description for grasping using a parallel-plate gripper. We evaluate the accuracy of grasp detection and instance segmentation on challenging robotic picking datasets, namely Siléane and OCID_grasp, and show the benefit of joint grasp detection and segmentation on a real-world robotic picking task.