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Patricia Wollstadt and Matti Krüger, "Quantifying cooperation between artificial agents using synergistic information", 2022 IEEE Symposium Series on Computational Intelligence (SSCI), pp. 1044-1051, 2023.
AbstractWhen designing interactive human-machine sys- tems, it is often assumed that it is desirable for such systems to behave cooperatively towards a human operator in order to improve trust, acceptance, and usability, but also to increase task effi ciency. To design cooperative human-machine interaction (HMI) systems, we have to be able to defi ne and quantitatively describe cooperative behavior, for example, to control, optimize, or evaluate t...
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Anna Belardinelli, Chao Wang, Michael Gienger, "Explainable Human-Robot Interaction for imitation learning in Augmented Reality", 16th International Workshop on Human-Friendly Robotics, 2023.
AbstractImitation learning could enable non-expert users to teach new skills to robots in an interactive and intuitive way. Still, when teaching a task, it is often difficult to grasp what the robot knows or to assess if a correct task representation is being formed. To address this problem, suitable online feedback should be given by the robot to explain its perceptual beliefs. Here, we introduce an explainable design for human-robot interaction du...
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Mariusz Bujny, Muhammad Yousaf, Nate Zurbrugg, Duane Detwiler, Stefan Menzel, Satchit Ramnath, Thiago Rios, Fabian Duddeck, "Learning Hyperparameter Predictors for Similarity-based Multidisciplinary Topology Optimization", Scientific Reports, 2023.
AbstractTopology optimization (TO) plays a significant role in industry by providing engineers with optimal material distributions based exclusively on the information about the design space and loading conditions. Such approaches are especially important for current multidisciplinary design tasks in industry, where the conflicting criteria often lead to very unintuitive solutions. Despite the progress in integrating manufacturing constraints into TO, on...
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Julian Eggert, Jörg Deigmöller, Pavel Smirnov, Johane Takeuchi, Andreas Richter, "Memory Net: Generalizable Common-Sense Reasoning over Real-World Actions and Objects", International Conference on Knowledge Engineering and Ontology Development, 2023.
AbstractAbstract. We address the problem of situated reasoning of artificial agents (AA) in human-like environments. In particular, we want the AAs to reason about so-called action patterns in a real-world human environment: E.g., which tools can be used for a certain action, which actions can be performed with certain tools and objects, and so on. This should occur in a situated way, i.e., always referring to concrete instances in a real-world enviro...
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Felix Ocker, Jörg Deigmöller, Julian Eggert, "Exploring Large Language Models as a Source of Common-Sense Knowledge for Robots", International Semantic Web Conference, 2023.
AbstractBy definition, service robots are supposed to help humans in everyday situations. To behave as expected, the robots require a sound knowledge base, allowing them to infer necessary actions. For situations such as serving a drink in the desired way, common-sense knowledge is required. The challenge with common-sense knowledge is that it is inherently implicit, i.e., it is self-evident for humans but not explicitly documented. Compared to the amoun...
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Jonathan Jakob, Martina Hasenjäger, Barbara Hammer, "Incremental Human Gait Prediction without Catastrophic forgetting", IEEE SSCI 2023, 2023.
AbstractHuman gait prediction is an important task in predictive exoskeleton control. However, if static models are used to facilitate this task, two problems arise. First, the models cannot adapt to new environments and terrains during deployment, and second, the models cannot be personalized to any given end user without costly involvement of a human expert. Incremental models can alleviate these shortcomings, but they usually are prone to catastrophic...
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David Rother, Thomas Weisswange, Jan Peters, "Summary: Disentangling Interaction using Maximum Entropy Reinforcement Learning in Multi-Agent Systems", AAAI 2023 Fall Symposia: Agent Teaming in Mixed-Motive Situations, 2023.
AbstractResearch on multi-agent interaction involving both artifi- cial agents and humans is still in its infancy. Current ap- proaches often focus on collaboration-centered human be- havior or a limited set of predefined situations, potentially limiting their efficacy in ”coexistence” environments. These are scenarios likely to arise in future deployments of robots in human-inhabited spaces, where interactions won’t always align with predef...
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Theodoros Stouraitis and Michael Gienger, "Predictive and Robust Robot Assistance for Sequential Manipulation Tasks", IEEE Research and Automation Letters (RA-L), 2023.
AbstractThis paper presents a novel concept to support impaired users in daily physical object manipulation tasks with a robot. Starting out with an assumed manipulation task of a user, we propose a predictive model that uniquely casts the user's sequential behavior as well as a robot support intervention into a hierarchical multi-objective optimization problem. A major contribution is the prediction formulation, which allows to model several different f...
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Thomas Jatschka, Matthias Rauscher, Tobias Rodemann, Guenther Raidl, "A Large Neighborhood Search for Battery Swapping Station Location Planning for Electric Scooters", EuroCAST Conference 2022, pp. 121-129, 2023.
AbstractWe consider the Multi Objective Battery Swapping Station Location Problem (MOBSSLP) for planning the setup of new stations for exchanging depleted batteries of electric scooters with the aim of minimizing a three-part objective function while satisfying an expected amount of demand. Batteries returned at a station are charged and provided to customers again once they are full. We present a large neighborhood search (LNS) for solving MOBSSLP insta...
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Steffen Limmer and Nils Einecke, "SPOC 2023: Approaches by HRI", Space Optimization Competition Workshop, 2023.
AbstractPresent approach for 2023 ESA / GECCO optimization challenge at special SpOC workshop held by the ESA....
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