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Tuan Vu Pham, Thomas H Weisswange, Marc Hassenzahl , "Impact of Affirmative and Negating Robot Gestures on Perceived Personality, Role, and Contribution of a Human Group Member", ACM Designing Interactive Systems (DIS 2025), 2025.
AbstractThere is an interest in how robots could mediate human groups. We investigate how robot gestures influence the perception of a human member’s personality, role in the group, and contribution. In a vignette study (n=96), participants imagined being part of a group discussion and watched a short video of a group member making an argument. In one condition (affirmation) a robot nodded while the member spoke, in the other it shook its ...
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Fan Zhang and Michael Gienger , "Learning Robot Manipulation from Audio World Models", Arxiv, 2025.
AbstractWorld models have demonstrated impressive performance on robotic learning tasks. Many such tasks inherently demand multimodal reasoning; for example, filling a bottle with water will lead to visual information alone being ambiguous or incomplete, thereby requiring reasoning over the temporal evolution of audio, accounting for its underlying physical properties and pitch patterns. In this paper, we propose a generative latent flow matching model t...
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Sai Lokesh Kancharla, Sebastian Brulin, Markus Olhofer, Sanaz Mostaghim , "Optimization of Time-Variant Charging Station Placement Using Evolutionary Algorithms", Genetic and Evolutionary Computation Conference (GECCO), 2025.
AbstractThis paper introduces the optimization of time-variant placement of charging stations on a dynamic road network, where variables such as speed change over time. We use Uber Movement data from San Francisco which is aggregated into an hourly representation of a typical day by averaging the speed entries of edges for each hour, resulting in 24 snapshots of the network. The placement is optimized independently for each time period using an Evolution...
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Felix Ocker, Jörg Deigmöller, Pavel Smirnov, Julian Eggert , "A Grounded Memory System For Smart Personal Assistants", arXiv, 2025.
AbstractA wide variety of agentic AI applications – ranging from cognitive assistants for dementia patients to robotics – demand a robust memory system grounded in reality. In this paper, we propose such a memory system consisting of three components. First, we combine Vision Language Models for image captioning and entity disambiguation with Large Language Models for consistent information extraction during perception. Second, the extracted information...
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Raphael Wenzel and Malte Probst , "Spotting the Unfriendly Robot - Towards better Metrics for Interactions", ICRA 2025 Workshop on Advances in Social Robot Navigation, Planning, HRI, and Beyond., 2025.
AbstractEstablishing standardized metrics for Social Robot Navigation (SRN) algorithms for assessing the quality and social compliance of robot behavior around humans is essential for SRN research. Currently, commonly used evaluation metrics lack the ability to quantify how cooperative an agent behaves in interaction with humans. Concretely, in a simple frontal approach scenario, no metric specifically captures if both agents cooperate or if one agent st...
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Chao Wang, Fan Zhang, Michael Gienger , "VR^2 for Social Retargeting ", IROS 2025 EXPO, 2025.
AbstractExpressive behavior is critical for robots to convey emotional states effectively during interactions with humans. We present a framework that autonomously gen- erates realistic and diverse robotic emotional expressions based on expert demonstrations captured in Mixed Reality (MR).In our demo, we will showcase: 1) Tele-operation: Human experts (or audience mem-bers) tele-operate a virtual robot from a first-person perspective, with their facial...
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Matti Krüger , "Mirror Eyes: Explainable Human-Machine Interaction at a Glance", Honda R&D Technical Forum, 2025.
AbstractIn interaction with intelligent machines, it can be challenging for people to discern what a machine is focusing on, even though this understanding is often crucial for interaction success. This talk introduces a novel approach for machine agents to communicate their attention using a method we call “Mirror Eyes”. These artificial eyes go beyond human abilities by showing not only where a machine is looking, but also by dynamically reflecting wh...
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Michael Gienger , "Attentive, Curious, and Aware: From LLMs to Action in Human-Robot Interaction", International Workshop on AI FOR ROBOTICS, 2025.
AbstractThe recent breakthroughs in Generative AI offer fantastic opportunities to research novel concepts for intelligent embodied agents. In this talk, I will introduce recent research in exploiting Large Language Models (LLMs) for robot task and motion planning. We combined reasoning, planning, and motion generation, and introduced a novel concept for correcting errors during planning and execution. I’ll show several results both in simulations and re...
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Linus Ekstrom, Hao Wang, Sebastian Schmitt , "Variational Quantum Multi-Objective Optimization", Physical Review Research, 2025.
AbstractSolving combinatorial optimization problems using variational quantum algorithms to be executed on near-term quantum devices has gained a lot of attraction in recent years. Currently, most works have focused on single-objective problems. In contrast, many real-world problems need to consider multiple conflicting objectives simultaneously, which is not well studied using variation quantum algorithms. In multi-objective optimization, one seeks the ...
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Ian Zhao, Andy M Tyrrell, Michael Gienger, Jihong Zhu , "Bimanual Robot-Assisted Dressing: A Spherical Coordinate-Based Strategy for Tight-Fitting Garments", IEEE/RSJ International Conference on Intelligent Robots and Systems, 2025.
AbstractRobot-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 mobility limitations. Currently, the majority of research on robot-assisted dressing focuses on how to put on loose-fitting clothing, with little attention paid to tight garments. For the former, since the armscye is larger, a single robotic arm can usually complete the...
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