2 citations · 6 across the 15 of their papers we have counts for
15 papers
Optimal Transport Q-Learning for Flow Policy Steering and Acceleration
Andreas Sochopoulos, Esmeralda S. Whitammer, Nikolaos Tsagkas +3
Diffusion and flow policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions, especially…
MERGE: Guided Vision-Language Models for Multi-Actor Event Reasoning and Grounding in Human-Robot Interaction
Joerg Deigmoeller, Nakul Agarwal, Stephan Hasler +8
We introduce MERGE, a system for situational grounding of actors, objects, and events in dynamic human-robot group interactions. Effective collaboration in such settings requires c…
XR: An Extended Reality Platform for Social-Physical Human-Robot Interaction
Chao Wang, Anna Belardinelli, Michael Gienger
Social-physical human-robot interaction (spHRI) is difficult to study: building and programming robots that integrate multiple interaction modalities is costly and slow, while VR-b…
Learning Robot Manipulation from Audio World Models
Fan Zhang, Michael Gienger
World models have demonstrated impressive performance on robotic learning tasks. Many such tasks inherently demand multimodal reasoning; for example, filling a bottle with water wi…
Bimanual Robot-Assisted Dressing: A Spherical Coordinate-Based Strategy for Tight-Fitting Garments
Jian Zhao, Yunlong Lian, Andy M Tyrrell +2
Robot-assisted dressing is a popular but challenging topic in the field of robotic manipulation, offering significant potential to improve the quality of life for individuals with…
Generation of Real-time Robotic Emotional Expressions Learning from Human Demonstration in Mixed Reality
Chao Wang, Michael Gienger, Fan Zhang
Expressive behaviors in robots are critical for effectively conveying their emotional states during interactions with humans. In this work, we present a framework that autonomously…
CARMA: Context-Aware Situational Grounding of Human-Robot Group Interactions by Combining Vision-Language Models with Object and Action Recognition
Joerg Deigmoeller, Stephan Hasler, Nakul Agarwal +8
We introduce CARMA, a system for situational grounding in human-robot group interactions. Effective collaboration in such group settings requires situational awareness based on a c…
Mirror Eyes: Explainable Human-Robot Interaction at a Glance
Matti Krüger, Daniel Tanneberg, Chao Wang +2
The gaze of a person tends to reflect their interest. This work explores what happens when this statement is taken literally and applied to robots. Here we present a robot system t…
Fast Flow-based Visuomotor Policies via Conditional Optimal Transport Couplings
Andreas Sochopoulos, Nikolay Malkin, Nikolaos Tsagkas +3
Diffusion and flow matching policies have recently demonstrated remarkable performance in robotic applications by accurately capturing multimodal robot trajectory distributions. Ho…
SemanticScanpath: Combining Gaze and Speech for Situated Human-Robot Interaction Using LLMs
Elisabeth Menendez, Michael Gienger, Santiago Martínez +2
Large Language Models (LLMs) have substantially improved the conversational capabilities of social robots. Nevertheless, for an intuitive and fluent human-robot interaction, robots…
CCDP: Composition of Conditional Diffusion Policies with Guided Sampling
Amirreza Razmjoo, Sylvain Calinon, Michael Gienger +1
Imitation Learning offers a promising approach to learn directly from data without requiring explicit models, simulations, or detailed task definitions. During inference, actions a…
Affordance-based Robot Manipulation with Flow Matching
Fan Zhang, Michael Gienger
We present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, efficiently adapting large-scale models to downstream scene affordance…
Tulip Agent -- Enabling LLM-Based Agents to Solve Tasks Using Large Tool Libraries
Felix Ocker, Daniel Tanneberg, Julian Eggert +1
We introduce tulip agent, an architecture for autonomous LLM-based agents with Create, Read, Update, and Delete access to a tool library containing a potentially large number of to…
Efficient Symbolic Planning with Views
Stephan Hasler, Daniel Tanneberg, Michael Gienger
Robotic planning systems model spatial relations in detail as these are needed for manipulation tasks. In contrast to this, other physical attributes of objects and the effect of d…
Generating consistent PDDL domains with Large Language Models
Pavel Smirnov, Frank Joublin, Antonello Ceravola +1
Large Language Models (LLMs) are capable of transforming natural language domain descriptions into plausibly looking PDDL markup. However, ensuring that actions are consistent with…