Claudius Kienle
Research Interests
Machine Learning, Robotics, Task and Motion Planning, Natural Language Programming, LLM Reasoning, AI Planning
More Information
Contact Information
Mail.
Claudius Kienle
TU Darmstadt, FG IAS,
Hochschulstr. 10, 64289 Darmstadt
Office.
Room E226, Building S2|02
+49-6151-16-20074
claudius(dot)kienle(at)tu-darmstadt(dot)de
Claudius Kienle joined the Intelligent Autonomous System lab on April 1st, 2025, as a PhD student. His research focuses on developing a digital engineering assistant for long-horizon robot programming via natural language.Before his PhD, Claudius Kienle completed his Master's degree in Computer Science at the Karlsruhe Institute of Technology. His thesis focused on Sim2Real Gap prediction with a novel environment-grounded transformer model.
During his PhD, Claudius Kienle is working on integrating various aspects of AI-driven robotics, including natural language-based robot programming, Sim2Real Gap prediction, differentiable motion planning, and long-horizon task and motion planning.
His work includes:
- Natural language-based Q&A for information extraction from CAD models
- World-models for Sim2Real Gap prediction and as predictor for first-order robot program optimization
- Differentiable motion planners using Gaussian Process Motion Planners with novel constraints, e.g. for collision avoidance
- Hybrid TAMP hinging on large language models (LLMs) and AI planners, with a focus on problem guarantees and motion feasibility analysis.
Publications
- Alt, B.; Kienle, C.; Katic, D.; Jäkel, R.; Beetz, M. (2025). Shadow Program Inversion with Differentiable Planning: A Framework for Unified Robot Program Parameter and Trajectory Optimization, IEEE International Conference on Robotics and Automation (ICRA).
- Kienle, C.; Alt, B.; Katic, D.; Jäkel, R.; Peters, J. (2025). QueryCAD: Grounded Question Answering for CAD Models, IEEE International Conference on Robotics and Automation (ICRA).
- Kienle, C.; Alt, B.; Schneider F.; Pertlwieser, T.; Jäkel, R.; Rayyes R. (2025). AI-based Framework for Robust Model-Based Connector Mating in Robotic Wire Harness Installation, IEEE International Conference on Automation Science and Engineering (CASE).
- Alt, B.; Zahn, J.; Kienle, C.; Dvorak, J.; May, M.; Katic, D.; Jäkel, R.; Kopp, T.; Beetz, M.; Lanza, G. (2024). Human-AI Interaction in Industrial Robotics: Design and Empirical Evaluation of a User Interface for Explainable AI-Based Robot Program Optimization, 57th CIRP Conference on Manufacturing Systems 2024 (CMS 2024).
- Kienle, C.; Alt, B.; Celik, O.; Becker, P.; Katic, D.; Jäkel, R.; Neumann, G. (2024). MuTT: A Multimodal Trajectory Transformer for Robot Skills, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).