6 papers · 1 filter
Theory of Mind for Explainable Human-Robot Interaction
Marie S. Bauer, Julia Gachot, Matthias Kerzel +2
Within the context of human-robot interaction (HRI), Theory of Mind (ToM) is intended to serve as a user-friendly backend to the interface of robotic systems, enabling robots to in…
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…
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…
Robotic Imitation of Human Actions
Josua Spisak, Matthias Kerzel, Stefan Wermter
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about which actions need to be performed and which goal…