Christoph Böhm

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.

Jan Niklas Fuhg, Christoph Boehm, Nikolaos Bouklas et al.

Computational multiscale methods for analyzing and deriving constitutive responses have been used as a tool in engineering problems because of their ability to combine information at different length scales. However, their application in a nonlinear framework can be limited by high computational costs, numerical difficulties, and/or inaccuracies. In this paper, a hybrid methodology is presented which combines classical constitutive laws (model-based), a data-driven correction component, and computational multiscale approaches. A model-based material representation is locally improved with data from lower scales obtained by means of a nonlinear numerical homogenization procedure leading to a model-data-driven approach. Therefore, macroscale simulations explicitly incorporate the true microscale response, maintaining the same level of accuracy that would be obtained with online micro-macro simulations but with a computational cost comparable to classical model-driven approaches. In the proposed approach, both model and data play a fundamental role allowing for the synergistic integration between a physics-based response and a machine learning black-box. Numerical applications are implemented in two dimensions for different tests investigating both material and structural responses in large deformation.