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Nikolas Hohmann, Sebastian Brulin, Jürgen Adamy, Markus Olhofer , "Multi-objective Optimization of Urban Air Transportation Networks under Social Considerations", IEEE Open Journal of Intelligent Transportation Systems, vol. 5, pp. 589 - 602, 2024.
AbstractThe growing urbanization and traffic density in cities call for efficient transportation solutions. One potential solution extends urban traffic into the airspace, requiring some kind of aerial infrastructure. This work addresses the problem of optimizing an aerial traffic network regarding multiple objectives. Given logistic hub positions and a set of optimized paths between them, we aim for a Pareto-optimal air corridor network structure. Th...
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Tobias Rodemann and Christiane Attig , "How can digital twins help to accelerate the transition to a carbon-neutral energy system", EuroCAST (Computer Aided System Theory), 2024.
AbstractGood investment decisions into green energy systems are hard due to high budget requests, complex systems and multiple objectives to consider. Simulation models of current and potential future energy systems (so called digital twins) can help to generate a deeper understanding, better recommendations, and more reliable forecasts of costs and savings. We developed detailed simulation models for our R&D facility (see Fig. 1) using a simulation appr...
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Anna Belardinelli, Chao Wang, Daniel Tanneberg, Stephan Hasler, Michael Gienger , "Train your robot in AR: investigating user experience with a continuously learning robot", Lifelong Learning and Personalization in Long-Term Human-Robot Interaction (LEAP-HRI), 2024.
AbstractAssistive robots that can be deployed in our homes will need to be understandable, operable, and teachable by non-expert users. This calls for an intuitive Human-Robot Interaction approach that is also safe and sustainable in the long term. Still, few studies have looked at repeated, unscripted interactions in a loosely supervised setting with a robot incrementally learning from the user and con- sequentially expanding its knowledge and abi...
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Christiane Wiebel, Petros Georgiadis, Martina Hasenjäger , "On the role of eye and head movements for walk transitions in real world urban scenes ", 46th European Conference on Visual Perception (ECVP), 2024.
AbstractHuman gaze behavior plays a significant role for successful goal-directed locomotion. Yet, it has been rarely employed in multimodal models for predicting real-world human walk behavior. In this study, we set out to investigate its potential for improving the prediction of upcoming walk mode transitions in real-world urban scenes. We use a publicly available data set including IMU motion data and gaze data from the Pupil Labs Invisible eye tracke...
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Fan Zhang and Michael Gienger , "Affordance-based Robot Manipulation with Flow Matching", Arxiv, 2024.
AbstractWe present a framework for assistive robot manipulation, which focuses on two fundamental challenges: first, effi- ciently adapting large-scale vision-language models to down- stream scene affordance understanding tasks, especially in daily living scenarios where gather multi-task data involving human requires strenuous effort; second, effectively learning robot trajectories by grounding the visual affordance model. We tackle the first cha...
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Michael Gienger , "Robot Assistance with Large Language Models", Workshop "Learning for Assistive Robots" of the 2024 Robotics Science and Systems Conference, 2024.
AbstractSummary talk about 2 papers with respect to robot assistance: CoPAL: Corrective Planning of Robot Actions with Large Language Models and To Help or Not to Help: LLM-based Attentive Support for Human-Robot Group Interactions. ...
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Laurenz Tomandl, Thomas Jatschka, Guenther Raidl, Tobias Rodemann , "A Learning Bilevel Optimization Approach for the Demand Maximizing Battery Swapping Station Location Problem", Eurocast, 2024 19th International Conference on Computer Aided Systems Theory, 2024.
AbstractA problem for the wide-scale adoption of electric vehicles are the usually long battery charging times. To avoid the waiting time for the customer, vehicles with exchangeable batteries and a network of battery swapping stations are a promising solution for smaller-scale vehicles like electric scooters. A customer can drive to a station and exchange their depleted batteries with an already charged battery and thus avoid the waiting that would be n...
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Daniel Tanneberg, Felix Ocker, Stephan Hasler, Jörg Deigmöller, Anna Belardinelli, Chao Wang, Heiko Wersing, Bernhard Sendhoff, Michael Gienger , "To Help or Not to Help: LLM-based Attentive Support for Human-Robot Group Interactions", Arxiv, no. arXiv:2403.12533, 2024.
AbstractHow can a robot support a group of humans in physical group activities? We present Attentive Support, a novel interaction concept for robots to support a group of humans. It combines scene perception, dialogue acquisition, situation understanding, and behavior generation with the common-sense reasoning capabilities of Large Language Models (LLMs). In addition to following user instructions, Attentive Support is capable to decide when and how to s...
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Manuel Dietrich and Jörg Pohle , "Robot Design for Social Intervenability", NordiCHI 2024, 2024.
AbstractAdvanced assistive technologies like robots must go beyond being merely service-on-request devices but should be equipped with abilities to coexist in social environments. Many development activities concentrate on refining robot capabilities for understanding complex social nuances. In this paper, we argue for shifting focus; rather than aiming for flawless operation through optimized context understanding, strong emphasis should be put into des...
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Lei Yan, Theodoros Stouraitis, Joao Moura, Michael Gienger, Sethu Vijayakumar , "Impact-Aware Bimanual Catching of Large-Momentum Objects", IEEE Transaction on Robotics, 2024.
AbstractThis paper investigates one of the most challeng- ing tasks in dynamic manipulation—catching large-momentum moving objects. Beyond the realm of quasi-static manipulation, dealing with highly dynamic objects can significantly improve the robot’s capability of interacting with its surrounding en- vironment. Yet, the inevitable motion mismatch between the fast moving object and the approaching robot will result in large impulsive forces, whic...
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