Thomas Weber

Yuzhi Lai, Shenghai Yuan, Youssef Nassar et al.

Effective Human-Robot Interaction (HRI) is crucial for future service robots in aging societies. Existing solutions are biased toward only well-trained objects, creating a gap when dealing with new objects. Currently, HRI systems using predefined gestures or language tokens for pretrained objects pose challenges for all individuals, especially elderly ones. These challenges include difficulties in recalling commands, memorizing hand gestures, and learning new names. This paper introduces NVP-HRI, an intuitive multi-modal HRI paradigm that combines voice commands and deictic posture. NVP-HRI utilizes the Segment Anything Model (SAM) to analyze visual cues and depth data, enabling precise structural object representation. Through a pre-trained SAM network, NVP-HRI allows interaction with new objects via zero-shot prediction, even without prior knowledge. NVP-HRI also integrates with a large language model (LLM) for multimodal commands, coordinating them with object selection and scene distribution in real time for collision-free trajectory solutions. We also regulate the action sequence with the essential control syntax to reduce LLM hallucination risks. The evaluation of diverse real-world tasks using a Universal Robot showcased up to 59.2\% efficiency improvement over traditional gesture control, as illustrated in the video https://youtu.be/EbC7al2wiAc. Our code and design will be openly available at https://github.com/laiyuzhi/NVP-HRI.git.

Benjamin El-Zein, Dominik Eckert, Thomas Weber et al.

Collimator detection remains a challenging task in X-ray systems with unreliable or non-available information about the detectors position relative to the source. This paper presents a physically motivated image processing pipeline for simulating the characteristics of collimator shadows in X-ray images. By generating randomized labels for collimator shapes and locations, incorporating scattered radiation simulation, and including Poisson noise, the pipeline enables the expansion of limited datasets for training deep neural networks. We validate the proposed pipeline by a qualitative and quantitative comparison against real collimator shadows. Furthermore, it is demonstrated that utilizing simulated data within our deep learning framework not only serves as a suitable substitute for actual collimators but also enhances the generalization performance when applied to real-world data.

Michael Danner, Thomas Weber, Leping Peng et al.

Facial beauty prediction (FBP) aims to develop a machine that automatically makes facial attractiveness assessment. In the past those results were highly correlated with human ratings, therefore also with their bias in annotating. As artificial intelligence can have racist and discriminatory tendencies, the cause of skews in the data must be identified. Development of training data and AI algorithms that are robust against biased information is a new challenge for scientists. As aesthetic judgement usually is biased, we want to take it one step further and propose an Unbiased Convolutional Neural Network for FBP. While it is possible to create network models that can rate attractiveness of faces on a high level, from an ethical point of view, it is equally important to make sure the model is unbiased. In this work, we introduce AestheticNet, a state-of-the-art attractiveness prediction network, which significantly outperforms competitors with a Pearson Correlation of 0.9601. Additionally, we propose a new approach for generating a bias-free CNN to improve fairness in machine learning.

Angelo Ziletti, Christoph Berns, Oliver Treichel et al.

Millions of unsolicited medical inquiries are received by pharmaceutical companies every year. It has been hypothesized that these inquiries represent a treasure trove of information, potentially giving insight into matters regarding medicinal products and the associated medical treatments. However, due to the large volume and specialized nature of the inquiries, it is difficult to perform timely, recurrent, and comprehensive analyses. Here, we propose a machine learning approach based on natural language processing and unsupervised learning to automatically discover key topics in real-world medical inquiries from customers. This approach does not require ontologies nor annotations. The discovered topics are meaningful and medically relevant, as judged by medical information specialists, thus demonstrating that unsolicited medical inquiries are a source of valuable customer insights. Our work paves the way for the machine-learning-driven analysis of medical inquiries in the pharmaceutical industry, which ultimately aims at improving patient care.

Muhammad Umer Anwaar, Zhiwei Han, Shyam Arumugaswamy et al.

In graph neural networks (GNNs), message passing iteratively aggregates nodes' information from their direct neighbors while neglecting the sequential nature of multi-hop node connections. Such sequential node connections e.g., metapaths, capture critical insights for downstream tasks. Concretely, in recommender systems (RSs), disregarding these insights leads to inadequate distillation of collaborative signals. In this paper, we employ collaborative subgraphs (CSGs) and metapaths to form metapath-aware subgraphs, which explicitly capture sequential semantics in graph structures. We propose meta\textbf{P}ath and \textbf{E}ntity-\textbf{A}ware \textbf{G}raph \textbf{N}eural \textbf{N}etwork (PEAGNN), which trains multilayer GNNs to perform metapath-aware information aggregation on such subgraphs. This aggregated information from different metapaths is then fused using attention mechanism. Finally, PEAGNN gives us the representations for node and subgraph, which can be used to train MLP for predicting score for target user-item pairs. To leverage the local structure of CSGs, we present entity-awareness that acts as a contrastive regularizer on node embedding. Moreover, PEAGNN can be combined with prominent layers such as GAT, GCN and GraphSage. Our empirical evaluation shows that our proposed technique outperforms competitive baselines on several datasets for recommendation tasks. Further analysis demonstrates that PEAGNN also learns meaningful metapath combinations from a given set of metapaths.

Evgenii Sovetkin, Elbert Jan Achterberg, Thomas Weber et al.

We consider a series of image segmentation methods based on the deep neural networks in order to perform semantic segmentation of electroluminescence (EL) images of thin-film modules. We utilize the encoder-decoder deep neural network architecture. The framework is general such that it can easily be extended to other types of images (e.g. thermography) or solar cell technologies (e.g. crystalline silicon modules). The networks are trained and tested on a sample of images from a database with 6000 EL images of Copper Indium Gallium Diselenide (CIGS) thin film modules. We selected two types of features to extract, shunts and so called "droplets". The latter feature is often observed in the set of images. Several models are tested using various combinations of encoder-decoder layers, and a procedure is proposed to select the best model. We show exemplary results with the best selected model. Furthermore, we applied the best model to the full set of 6000 images and demonstrate that the automated segmentation of EL images can reveal many subtle features which cannot be inferred from studying a small sample of images. We believe these features can contribute to process optimization and quality control.

Zhiwei Han, Thomas Weber, Stefan Matthes et al.

Machine learning and many of its applications are considered hard to approach due to their complexity and lack of transparency. One mission of human-centric machine learning is to improve algorithm transparency and user satisfaction while ensuring an acceptable task accuracy. In this work, we present an interactive image restoration framework, which exploits both image prior and human painting knowledge in an iterative manner such that they can boost on each other. Additionally, in this system users can repeatedly get feedback of their interactions from the restoration progress. This informs the users about their impact on the restoration results, which leads to better sense of control, which can lead to greater trust and approachability. The positive results of both objective and subjective evaluation indicate that, our interactive approach positively contributes to the approachability of restoration algorithms in terms of algorithm performance and user experience.

Sergey Triputen, Atmaraaj Gopal, Thomas Weber et al.

SLAM systems are mainly applied for robot navigation while research on feasibility for motion planning with SLAM for tasks like bin-picking, is scarce. Accurate 3D reconstruction of objects and environments is important for planning motion and computing optimal gripper pose to grasp objects. In this work, we propose the methods to analyze the accuracy of a 3D environment reconstructed using a LSD-SLAM system with a monocular camera mounted onto the gripper of a collaborative robot. We discuss and propose a solution to the pose space conversion problem. Finally, we present several criteria to analyze the 3D reconstruction accuracy. These could be used as guidelines to improve the accuracy of 3D reconstructions with monocular LSD-SLAM and other SLAM based solutions.