29 citations · 139 across the 37 of their papers we have counts for
38 papers
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…
Identifying the Unknown: Prompt-Free Open Vocabulary Anomaly Recognition for Robot-Object Interaction
Philipp Allgeuer, Jan-Gerrit Habekost, Stefan Wermter
Robots operating in real-world environments must in general be able to recognize previously unseen objects. As robotic systems move toward open-world autonomy, there is a growing,…
A Generalized Formalism of Auto-Regressive Decoding for Speech Processing
Julia Gachot, Philipp Allgeuer, Marie S. Bauer +1
In speech processing, most state-of-the-art sequence prediction models rely on auto-regressive (AR) strategies to generate output sequences based on the raw predictions of the mode…
Keypoint-based Diffusion for Robotic Motion Planning on the NICOL Robot
Lennart Clasmeier, Jan-Gerrit Habekost, Connor Gäde +2
We propose a novel diffusion-based action model for robotic motion planning. Commonly, established numerical planning approaches are used to solve general motion planning problems,…
Pointing-Guided Target Estimation via Transformer-Based Attention
Luca Müller, Hassan Ali, Philipp Allgeuer +2
Deictic gestures, like pointing, are a fundamental form of non-verbal communication, enabling humans to direct attention to specific objects or locations. This capability is essent…
Balancing long- and short-term dynamics for the modeling of saliency in videos
Theodor Wulff, Fares Abawi, Philipp Allgeuer +1
The role of long- and short-term dynamics towards salient object detection in videos is under-researched. We present a Transformer-based approach to learn a joint representation of…
Robots Can Multitask Too: Integrating a Memory Architecture and LLMs for Enhanced Cross-Task Robot Action Generation
Hassan Ali, Philipp Allgeuer, Carlo Mazzola +4
Large Language Models (LLMs) have been recently used in robot applications for grounding LLM common-sense reasoning with the robot's perception and physical abilities. In humanoid…
Unconstrained Open Vocabulary Image Classification: Zero-Shot Transfer from Text to Image via CLIP Inversion
Philipp Allgeuer, Kyra Ahrens, Stefan Wermter
We introduce NOVIC, an innovative real-time uNconstrained Open Vocabulary Image Classifier that uses an autoregressive transformer to generatively output classification labels as l…
When Robots Get Chatty: Grounding Multimodal Human-Robot Conversation and Collaboration
Philipp Allgeuer, Hassan Ali, Stefan Wermter
We investigate the use of Large Language Models (LLMs) to equip neural robotic agents with human-like social and cognitive competencies, for the purpose of open-ended human-robot c…
Inverse Kinematics for Neuro-Robotic Grasping with Humanoid Embodied Agents
Jan-Gerrit Habekost, Connor Gäde, Philipp Allgeuer +1
This paper introduces a novel zero-shot motion planning method that allows users to quickly design smooth robot motions in Cartesian space. A Bézier curve-based Cartesian plan is t…
Comparing Apples to Oranges: LLM-powered Multimodal Intention Prediction in an Object Categorization Task
Hassan Ali, Philipp Allgeuer, Stefan Wermter
Human intention-based systems enable robots to perceive and interpret user actions to interact with humans and adapt to their behavior proactively. Therefore, intention prediction…
Human Impression of Humanoid Robots Mirroring Social Cues
Di Fu, Fares Abawi, Philipp Allgeuer +1
Mirroring non-verbal social cues such as affect or movement can enhance human-human and human-robot interactions in the real world. The robotic platforms and control methods also i…
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…
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…
Wrapyfi: A Python Wrapper for Integrating Robots, Sensors, and Applications across Multiple Middleware
Fares Abawi, Philipp Allgeuer, Di Fu +1
Message oriented and robotics middleware play an important role in facilitating robot control, abstracting complex functionality, and unifying communication patterns between sensor…
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…
Analytic Bipedal Walking with Fused Angles and Corrective Actions in the Tilt Phase Space
Philipp Allgeuer
This work presents algorithms for the feedback-stabilised walking of bipedal humanoid robotic platforms, along with the underlying theoretical and sensorimotor frameworks required…
NimbRo-OP2X: Affordable Adult-sized 3D-printed Open-Source Humanoid Robot for Research
Grzegorz Ficht, Hafez Farazi, Diego Rodriguez +4
For several years, high development and production costs of humanoid robots restricted researchers interested in working in the field. To overcome this problem, several research gr…
NimbRo Robots Winning RoboCup 2018 Humanoid AdultSize Soccer Competitions
Hafez Farazi, Grzegorz Ficht, Philipp Allgeuer +5
Over the past few years, the Humanoid League rules have changed towards more realistic and challenging game environments, which encourage teams to advance their robot soccer perfor…
NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot
Grzegorz Ficht, Hafez Farazi, André Brandenburger +5
Humanoid robotics research depends on capable robot platforms, but recently developed advanced platforms are often not available to other research groups, expensive, dangerous to o…
Bipedal Walking with Corrective Actions in the Tilt Phase Space
Philipp Allgeuer, Sven Behnke
Many methods exist for a bipedal robot to keep its balance while walking. In addition to step size and timing, other strategies are possible that influence the stability of the rob…
Tilt Rotations and the Tilt Phase Space
Philipp Allgeuer, Sven Behnke
In this paper, the intuitive idea of tilt is formalised into the rigorous concept of tilt rotations. This is motivated by the high relevance that pure tilt rotations have in the an…
First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform
Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi +2
The use of standard platforms in the field of humanoid robotics can lower the entry barrier for new research groups, and accelerate research by the facilitation of code sharing. Nu…
NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research
Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi +1
The versatility of humanoid robots in locomotion, full-body motion, interaction with unmodified human environments, and intuitive human-robot interaction led to increased research…