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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…
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…
Personalised Explanations in Long-term Human-Robot Interactions
Ferran GebellÃ, AnaÃs Garrell, Jan-Gerrit Habekost +3
In the field of Human-Robot Interaction (HRI), a fundamental challenge is to facilitate human understanding of robots. The emerging domain of eXplainable HRI (XHRI) investigates me…
A Framework for Adapting Human-Robot Interaction to Diverse User Groups
Theresa Pekarek Rosin, Vanessa Hassouna, Xiaowen Sun +4
To facilitate natural and intuitive interactions with diverse user groups in real-world settings, social robots must be capable of addressing the varying requirements and expectati…
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…