93 citations · 202 across the 37 of their papers we have counts for
21 papers · 1 filter
When to Make a Decision: Task-Sufficient Active Perception for Mobile Manipulator Robots
Mariana da Silva Barros, Matthias Kerzel, Cornelius Weber +1
A robotic agent operating in an unknown environment must gather sufficient task-relevant information before acting. However, determining when the available information is sufficien…
SmoLSTM: A Compact Vision-Language-Action Model with Recurrent Memory that Persists
Jan-Gerrit Habekost, Parsa Mastouri Kashani, Connor Gäde +5
Vision-language-action models often predict actions from only the current observation, which can leave tasks involving object occlusion or visually identical objects ambiguous with…
Theory of Mind for Explainable Human-Robot Interaction
Marie S. Bauer, Julia Gachot, Matthias Kerzel +2
Within the context of human-robot interaction (HRI), Theory of Mind (ToM) is intended to serve as a user-friendly backend to the interface of robotic systems, enabling robots to in…
Talking to Robots: A Practical Examination of Speech Foundation Models for HRI Applications
Theresa Pekarek Rosin, Julia Gachot, Henri-Leon Kordt +2
Automatic Speech Recognition (ASR) systems in real-world settings need to handle imperfect audio, often degraded by hardware limitations or environmental noise, while accommodating…
Shaken, Not Stirred: A Novel Dataset for Visual Understanding of Glasses in Human-Robot Bartending Tasks
Lukáš Gajdošech, Hassan Ali, Jan-Gerrit Habekost +3
Datasets for object detection often do not account for enough variety of glasses, due to their transparent and reflective properties. Specifically, open-vocabulary object detectors…
DIRIGENt: End-To-End Robotic Imitation of Human Demonstrations Based on a Diffusion Model
Josua Spisak, Matthias Kerzel, Stefan Wermter
There has been substantial progress in humanoid robots, with new skills continuously being taught, ranging from navigation to manipulation. While these abilities may seem impressiv…
Diffusing in Someone Else's Shoes: Robotic Perspective Taking with Diffusion
Josua Spisak, Matthias Kerzel, Stefan Wermter
Humanoid robots can benefit from their similarity to the human shape by learning from humans. When humans teach other humans how to perform actions, they often demonstrate the acti…
Robotic Imitation of Human Actions
Josua Spisak, Matthias Kerzel, Stefan Wermter
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goal…
CycleIK: Neuro-inspired Inverse Kinematics
Jan-Gerrit Habekost, Erik Strahl, Philipp Allgeuer +2
The paper introduces CycleIK, a neuro-robotic approach that wraps two novel neuro-inspired methods for the inverse kinematics (IK) task, a Generative Adversarial Network (GAN), and…
Clarifying the Half Full or Half Empty Question: Multimodal Container Classification
Josua Spisak, Matthias Kerzel, Stefan Wermter
Multimodal integration is a key component of allowing robots to perceive the world. Multimodality comes with multiple challenges that have to be considered, such as how to integrat…
NICOL: A Neuro-inspired Collaborative Semi-humanoid Robot that Bridges Social Interaction and Reliable Manipulation
Matthias Kerzel, Philipp Allgeuer, Erik Strahl +4
Robotic platforms that can efficiently collaborate with humans in physical tasks constitute a major goal in robotics. However, many existing robotic platforms are either designed f…
Learning to Autonomously Reach Objects with NICO and Grow-When-Required Networks
Nima Rahrakhshan, Matthias Kerzel, Philipp Allgeuer +2
The act of reaching for an object is a fundamental yet complex skill for a robotic agent, requiring a high degree of visuomotor control and coordination. In consideration of dynami…
Learning Flexible Translation between Robot Actions and Language Descriptions
Ozan Özdemir, Matthias Kerzel, Cornelius Weber +2
Handling various robot action-language translation tasks flexibly is an essential requirement for natural interaction between a robot and a human. Previous approaches require chang…
A trained humanoid robot can perform human-like crossmodal social attention and conflict resolution
Di Fu, Fares Abawi, Hugo Carneiro +5
To enhance human-robot social interaction, it is essential for robots to process multiple social cues in a complex real-world environment. However, incongruency of input informatio…
Robotic Occlusion Reasoning for Efficient Object Existence Prediction
Mengdi Li, Cornelius Weber, Matthias Kerzel +4
Reasoning about potential occlusions is essential for robots to efficiently predict whether an object exists in an environment. Though existing work shows that a robot with active…
Model Mediated Teleoperation with a Hand-Arm Exoskeleton in Long Time Delays Using Reinforcement Learning
Hadi Beik-Mohammadi, Matthias Kerzel, Benedikt Pleintinger +6
Telerobotic systems must adapt to new environmental conditions and deal with high uncertainty caused by long-time delays. As one of the best alternatives to human-level intelligenc…
Exercise with Social Robots: Companion or Coach?
Sascha Griffiths, Tayfun Alpay, Alexander Sutherland +4
In this paper, we investigate the roles that social robots can take in physical exercise with human partners. In related work, robots or virtual intelligent agents take the role of…
Disambiguating Affective Stimulus Associations for Robot Perception and Dialogue
Henrique Siqueira, Alexander Sutherland, Pablo Barros +3
Effectively recognising and applying emotions to interactions is a highly desirable trait for social robots. Implicitly understanding how subjects experience different kinds of act…
Continual Learning from Synthetic Data for a Humanoid Exercise Robot
Nicolas Duczek, Matthias Kerzel, Stefan Wermter
In order to detect and correct physical exercises, a Grow-When-Required Network (GWR) with recurrent connections, episodic memory and a novel subnode mechanism is developed in orde…
Explainable Goal-Driven Agents and Robots -- A Comprehensive Review
Fatai Sado, Chu Kiong Loo, Wei Shiung Liew +2
Recent applications of autonomous agents and robots, such as self-driving cars, scenario-based trainers, exploration robots, and service robots have brought attention to crucial tr…
Deep Neural Object Analysis by Interactive Auditory Exploration with a Humanoid Robot
Manfred Eppe, Matthias Kerzel, Erik Strahl +1
We present a novel approach for interactive auditory object analysis with a humanoid robot. The robot elicits sensory information by physically shaking visually indistinguishable p…