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Integrating Intrinsic and Extrinsic Explainability: The Relevance of Understanding Neural Networks for Human-Robot Interaction [article]

Tom Weber, Stefan Wermter
2020 arXiv   pre-print
Furthermore, NICO, an open-source humanoid robot platform, is introduced and how the interaction of intrinsic explanations by the robot itself and extrinsic explanations provided by the environment enable  ...  However, a lot of these approaches are not applicable to humanoid robots. Therefore, in this position paper, current problems with adapting XAI methods to explainable neurorobotics are described.  ...  Getting NICO to explain NICO, the Neuro-Inspired COmpanion, is a humanoid robot designed for human-robot interaction (Kerzel et al. 2017 ).  ... 
arXiv:2010.04602v1 fatcat:k2xqu4heyjalxltcseln5cy554

Crossmodal Language Grounding in an Embodied Neurocognitive Model [article]

Stefan Heinrich, Yuan Yao, Tobias Hinz, Zhiyuan Liu, Thomas Hummel, Matthias Kerzel, Cornelius Weber, Stefan Wermter
2020 arXiv   pre-print
In our scenario, we utilise the humanoid robot NICO in obtaining the EMIL data collection, in which the cognitive robot interacts with objects in a children's playground environment while receiving linguistic  ...  In this paper, we present a neurocognitive model for language grounding which reflects bio-inspired mechanisms such as an implicit adaptation of timescales as well as end-to-end multimodal abstraction.  ...  ACKNOWLEDGMENTS The authors thank Shreyans Bhansali and Erik Strahl for support in the data collection as well as well as the NVIDIA Corporation for support with a GPU grant.  ... 
arXiv:2006.13546v1 fatcat:ok7lhtpparg3ni33bxagjuoyae

Affect-Driven Learning of Robot Behaviour for Collaborative Human-Robot Interactions

Nikhil Churamani, Pablo Barros, Hatice Gunes, Stefan Wermter
2022 Frontiers in Robotics and AI  
For evaluation, we conduct a user study (n = 31) where the NICO robot acts as a proposer in the Ultimatum Game.  ...  In this paper, we propose a novel framework for affect-driven behaviour generation in social robots.  ...  “NICONeuro-Inspired COmpanion: A Developmental Humanoid Robot Platform for Multimodal Interaction,” in International Symposium on Robot and Human Interactive Communication (RO-MAN) (Lisbon: IEEE), 113  ... 
doi:10.3389/frobt.2022.717193 pmid:35265672 pmcid:PMC8898942 fatcat:5ojtrtmm3rhhzmrr4ogkpye5cm

Enhancing a Neurocognitive Shared Visuomotor Model for Object Identification, Localization, and Grasping With Learning From Auxiliary Tasks [article]

Matthias Kerzel
2020 arXiv   pre-print
In our initial implementation, a neural model was able to grasp selected objects from a planar surface. We embodied the model on the NICO humanoid robot.  ...  Our Retinanet-based model enables end-to-end training of visuomotor abilities in a biologically inspired developmental approach.  ...  and Physical Experimental Setup: The neurocognitive visuomotor model is embodied in the developmental robotic platform NICO, the Neuro Inspired COmpanion [21] (see Fig. 1 ) 3 .  ... 
arXiv:2009.12674v1 fatcat:6svidoatozae5cqpzuimxlj2rq

Enhancing a Neurocognitive Shared Visuomotor Model for Object Identification, Localization, and Grasping With Learning From Auxiliary Tasks

Matthias Kerzel, Fares Abawi, Manfred Eppe, Stefan Wermter
2020 IEEE Transactions on Cognitive and Developmental Systems  
In our initial implementation, a neural model was able to grasp selected objects from a planar surface. We embodied the model on the NICO humanoid robot.  ...  Our Retinanet-based model enables end-to-end training of visuomotor abilities in a biologically inspired developmental approach.  ...  and Physical Experimental Setup: The neurocognitive visuomotor model is embodied in the developmental robotic platform NICO, the Neuro Inspired COmpanion [21] (see Fig. 1 ) 3 .  ... 
doi:10.1109/tcds.2020.3028460 fatcat:pcjxx7yzmvci5gsxjqso5yobum

Cross-Talk of Low-Level Sensory and High-Level Cognitive Processing: Development, Mechanisms, and Relevance for Cross-Modal Abilities of the Brain

Xiaxia Xu, Ileana L. Hanganu-Opatz, Malte Bieler
2020 Frontiers in Neurorobotics  
Finally, we discuss the applicability and relevance of cross-modal processing for brain-inspired intelligent robotics.  ...  Second, we examine the critical factors and developmental mechanisms that account for the interaction between neuronal networks involved in sensory and cognitive processing.  ...  Recent endeavors led to the creation of an open source humanoid called NICO (Neuro-Inspired COmpanion), which due to its flexible design and open and modular hardware and software framework can adapt to  ... 
doi:10.3389/fnbot.2020.00007 pmid:32116637 pmcid:PMC7034303 fatcat:j2fkvrxesjhdtmn35enwyy6wb4

Towards Intelligent Social Robots: Social Cognitive Systems in Smart Environments Proceedings of the Full Day Workshop Towards Intelligent Social Robots: Social Cognitive Systems in Smart Environments in Conjunction with IEEE Ro-Man Portugal Towards Intelligent Social Robots: Social Cognitive Systems in Smart Environments

Amir Aly, Sascha Griffiths, Verena Nitsch, Tadahiro Taniguchi, Stefan Wermter, Adriana Tapus, Amir Aly, Sascha Griffiths, Verena Nitsch, Tadahiro Taniguchi, Stefan Wermter, Amir Aly (+5 others)
2017 unpublished
Using robots in smart environments opens the door to several socio-cognitive applications, such as: reducing cognitive load for individuals interacting with a smart environment, assisting the elderly and  ...  people with cognitive disabilities in mobility and daily tasks (which requires robots to learn the multimodal characteristics of human behavior and to spatially perceive the environment containing other  ...  NICO ROBOT AND GRASP LEARNING We realize the experimental setup with NICO (Neuro-Inspired COmpanion), introduced by Kerzel et al. [23] .  ... 
fatcat:ryxcfrcgpbcyljadr75bjeskqe

ICCHP-AAATE 2022 Open Access Compendium "Assistive Technology, Accessibility and (e)Inclusion" Part I [article]

Andrea Petz, Evert-Jan Hoogerwerf, Katerina Mavrou
2022
+43 664 60 2468 866 Aim and scope: To communicate and complete knowledge on ICT, AT and Accessibility for/with people with disabilities and older adults and connect research in these domains with the necessary  ...  This work was supported as a part of NCCR Robotics, a National Centre of Competence in Research, funded by the Swiss National Science Foundation (grant number 51NF40_185543), and the National Research  ...  The provision of models to schools for the blind was supported by a grant-in-aid for scientific research (Kiban-B, 20H01705). Acknowledgements.  ... 
doi:10.35011/icchp-aaate22-p1 fatcat:wffktbby4ngknbjx2mfnzfwuum