7 papers · 1 filter
When May I Help You? On The Effect of Proactivity on Group Human-Robot Collaboration
Thomas Vitry, Vanessa Maeder, Kieran von Valeburg +6
Robot initiative is a central challenge in multi-party human-robot collaboration. A robot that contributes without being addressed may provide timely support, but it may also disru…
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…
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…
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…
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…