5 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,…
Towards Learning a Generalizable 3D Scene Representation from 2D Observations
Martin Gromniak, Jan-Gerrit Habekost, Sebastian Kamp +2
We introduce a Generalizable Neural Radiance Field approach for predicting 3D workspace occupancy from egocentric robot observations. Unlike prior methods operating in camera-centr…
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,…
Personalised Explanations in Long-term Human-Robot Interactions
Ferran Gebellí, Anaís 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…
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…