no code implementations • 11 Apr 2024 • Josua Spisak, Matthias Kerzel, Stefan Wermter
Being able to mentally transfer from a demonstration seen from a third-person perspective to how it should look from a first-person perspective is fundamental for this ability in humans.
no code implementations • 16 Jan 2024 • Josua Spisak, Matthias Kerzel, Stefan Wermter
Imitation can allow us to quickly gain an understanding of a new task.
1 code implementation • 21 Jul 2023 • Jan-Gerrit Habekost, Erik Strahl, Philipp Allgeuer, Matthias Kerzel, Stefan Wermter
The paper introduces CycleIK, a neuro-robotic approach that wraps two novel neuro-inspired methods for the inverse kinematics (IK) task, a Generative Adversarial Network (GAN), and a Multi-Layer Perceptron architecture.
no code implementations • 17 Jul 2023 • Josua Spisak, Matthias Kerzel, Stefan Wermter
Multimodal integration is a key component of allowing robots to perceive the world.
no code implementations • 9 Jan 2023 • Ozan Özdemir, Matthias Kerzel, Cornelius Weber, Jae Hee Lee, Muhammad Burhan Hafez, Patrick Bruns, Stefan Wermter
Only occasionally, a learning infant would receive a matching verbal description of an action it is committing, which is similar to supervised learning.
no code implementations • 28 Nov 2022 • Jae Hee Lee, Michael Sioutis, Kyra Ahrens, Marjan Alirezaie, Matthias Kerzel, Stefan Wermter
In this chapter, we view this integration problem from the perspective of Neuro-Symbolic AI.
no code implementations • 14 Oct 2022 • Nima Rahrakhshan, Matthias Kerzel, Philipp Allgeuer, Nicolas Duczek, Stefan Wermter
The act of reaching for an object is a fundamental yet complex skill for a robotic agent, requiring a high degree of visuomotor control and coordination.
no code implementations • 18 Aug 2022 • Manfred Eppe, Christian Gumbsch, Matthias Kerzel, Phuong D. H. Nguyen, Martin V. Butz, Stefan Wermter
According to cognitive psychology and related disciplines, the development of complex problem-solving behaviour in biological agents depends on hierarchical cognitive mechanisms.
Hierarchical Reinforcement Learning reinforcement-learning +1
no code implementations • 15 Jul 2022 • Ozan Özdemir, Matthias Kerzel, Cornelius Weber, Jae Hee Lee, Stefan Wermter
In this work, we propose the paired gated autoencoders (PGAE) for flexible translation between robot actions and language descriptions in a tabletop object manipulation scenario.
1 code implementation • 6 Jul 2022 • Kyra Ahrens, Matthias Kerzel, Jae Hee Lee, Cornelius Weber, Stefan Wermter
Spatial reasoning poses a particular challenge for intelligent agents and is at the same time a prerequisite for their successful interaction and communication in the physical world.
1 code implementation • 5 May 2022 • Jae Hee Lee, Matthias Kerzel, Kyra Ahrens, Cornelius Weber, Stefan Wermter
Grounding relative directions is more difficult than grounding absolute directions because it not only requires a model to detect objects in the image and to identify spatial relation based on this information, but it also needs to recognize the orientation of objects and integrate this information into the reasoning process.
no code implementations • 17 Jan 2022 • Ozan Özdemir, Matthias Kerzel, Cornelius Weber, Jae Hee Lee, Stefan Wermter
Human infants learn language while interacting with their environment in which their caregivers may describe the objects and actions they perform.
no code implementations • 2 Nov 2021 • Di Fu, Fares Abawi, Hugo Carneiro, Matthias Kerzel, Ziwei Chen, Erik Strahl, Xun Liu, Stefan Wermter
Our saliency prediction model was trained to detect social cues, predict audio-visual saliency, and attend selectively for the robot study.
no code implementations • 1 Jul 2021 • Hadi Beik-Mohammadi, Matthias Kerzel, Benedikt Pleintinger, Thomas Hulin, Philipp Reisich, Annika Schmidt, Aaron Pereira, Stefan Wermter, Neal Y. Lii
Telerobotic systems must adapt to new environmental conditions and deal with high uncertainty caused by long-time delays.
no code implementations • 19 Feb 2021 • Nicolas Duczek, Matthias Kerzel, Stefan Wermter
In a practical scenario, a physical exercise is performed by an expert like a physiotherapist and then used as a reference for a humanoid robot like Pepper to give feedback on a patient's execution of the same exercise.
no code implementations • 18 Dec 2020 • Manfred Eppe, Christian Gumbsch, Matthias Kerzel, Phuong D. H. Nguyen, Martin V. Butz, Stefan Wermter
We then relate these insights with contemporary hierarchical reinforcement learning methods, and identify the key machine intelligence approaches that realise these mechanisms.
Hierarchical Reinforcement Learning reinforcement-learning +1
1 code implementation • 26 Sep 2020 • Matthias Kerzel, Fares Abawi, Manfred Eppe, Stefan Wermter
In this follow-up study, we expand the task and the model to reaching for objects in a three-dimensional space with a novel dataset based on augmented reality and a simulation environment.
1 code implementation • 24 Jun 2020 • Stefan Heinrich, Yuan YAO, Tobias Hinz, Zhiyuan Liu, Thomas Hummel, Matthias Kerzel, Cornelius Weber, Stefan Wermter
From a neuroscientific perspective, natural language is embodied, grounded in most, if not all, sensory and sensorimotor modalities, and acquired by means of crossmodal integration.
no code implementations • 21 Apr 2020 • Fatai Sado, Chu Kiong Loo, Wei Shiung Liew, Matthias Kerzel, Stefan Wermter
The recent stance on the explainability of AI systems has witnessed several approaches on eXplainable Artificial Intelligence (XAI); however, most of the studies have focused on data-driven XAI systems applied in computational sciences.
1 code implementation • 19 Apr 2020 • Muhammad Burhan Hafez, Cornelius Weber, Matthias Kerzel, Stefan Wermter
In this paper, we present a novel dual-system motor learning approach where a meta-controller arbitrates online between model-based and model-free decisions based on an estimate of the local reliability of the learned model.
1 code implementation • 13 Dec 2019 • Doreen Jirak, David Biertimpel, Matthias Kerzel, Stefan Wermter
The implementation of an intuitive gesture scenario is still challenging because both the pointing intention and the corresponding object have to be correctly recognized in real-time.
no code implementations • 10 Oct 2019 • Muhammad Burhan Hafez, Cornelius Weber, Matthias Kerzel, Stefan Wermter
The learned models are used to generate imagined experiences, augmenting the training set of real experiences.
no code implementations • 5 Sep 2019 • Di Fu, Cornelius Weber, Guochun Yang, Matthias Kerzel, Weizhi Nan, Pablo Barros, Haiyan Wu, Xun Liu, Stefan Wermter
Selective attention plays an essential role in information acquisition and utilization from the environment.
no code implementations • 5 May 2019 • Muhammad Burhan Hafez, Cornelius Weber, Matthias Kerzel, Stefan Wermter
Recent success in deep reinforcement learning for continuous control has been dominated by model-free approaches which, unlike model-based approaches, do not suffer from representational limitations in making assumptions about the world dynamics and model errors inevitable in complex domains.
no code implementations • 26 Oct 2018 • Muhammad Burhan Hafez, Cornelius Weber, Matthias Kerzel, Stefan Wermter
In this paper, we present a new intrinsically motivated actor-critic algorithm for learning continuous motor skills directly from raw visual input.
no code implementations • 3 Jul 2018 • Manfred Eppe, Matthias Kerzel, Erik Strahl, Stefan Wermter
We present a novel approach for interactive auditory object analysis with a humanoid robot.