University of Hamburg

Comparing Apples to Oranges: LLM-Powered Multimodal Intention Prediction in an Object Categorization Task
Human intention-based systems enable robots to perceive and interpret user actions to interact with humans and adapt to their behavior …
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Diffusing in Someone Else’s Shoes: Robotic Perspective-Taking with Diffusion
Humanoid robots can benefit from their similarity to the human shape by learning from humans. When humans teach other humans how to …
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Robots Can Multitask Too: Integrating a Memory Architecture and LLMs for Enhanced Cross-Task Robot Action Generation
Large Language Models (LLMs) have been recently used in robot applications for grounding LLM commonsense reasoning with the robot’s …
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When Robots Get Chatty: Grounding Multimodal Human-Robot Conversation and Collaboration
We investigate the use of Large Language Models (LLMs) to equip neural robotic agents with human-like social and cognitive …
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Robotic Imitation of Human Actions
Imitation can allow us to quickly gain an understanding of a new task. Through a demonstration, we can gain direct knowledge about …
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NICOL: A Neuro-inspired Collaborative Semi-humanoid Robot that Bridges Social Interaction and Reliable Manipulation
Robotic platforms that can efficiently collaborate with humans in physical tasks constitute a major goal in robotics. However, many …
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Clarifying the Half Full or Half Empty Question: Multimodal Container Classification
Multimodal integration is a key component of allowing robots to perceive the world. Multimodality comes with multiple challenges that …
PDF DOI ICANN 2023
CycleIK: Neuro-inspired Inverse Kinematics
The paper introduces CycleIK, a neuro-robotic approach that wraps two novel neuro-inspired methods for the inverse kinematics (IK) …
PDF DOI ICANN 2023
Neural Field Conditioning Strategies for 2D Semantic Segmentation
Neural fields are neural networks which map coordinates to a desired signal. When a neural field should jointly model multiple signals, …
PDF DOI ICANN 2023
Replay to Remember: Continual Layer-Specific Fine-tuning for German Speech Recognition
While Automatic Speech Recognition (ASR) models have shown significant advances with the introduction of unsupervised or …
PDF DOI ICANN 2023