9 papers
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…
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…