Luca Müller

Luca Müller, Hassan Ali, Philipp Allgeuer et al.

Deictic gestures, like pointing, are a fundamental form of non-verbal communication, enabling humans to direct attention to specific objects or locations. This capability is essential in Human-Robot Interaction (HRI), where robots should be able to predict human intent and anticipate appropriate responses. In this work, we propose the Multi-Modality Inter-TransFormer (MM-ITF), a modular architecture to predict objects in a controlled tabletop scenario with the NICOL robot, where humans indicate targets through natural pointing gestures. Leveraging inter-modality attention, MM-ITF maps 2D pointing gestures to object locations, assigns a likelihood score to each, and identifies the most likely target. Our results demonstrate that the method can accurately predict the intended object using monocular RGB data, thus enabling intuitive and accessible human-robot collaboration. To evaluate the performance, we introduce a patch confusion matrix, providing insights into the model's predictions across candidate object locations. Code available at: https://github.com/lucamuellercode/MMITF.

Markus J. Hofmann, Lara Müller, Andre Rölke et al.

The corpus, from which a predictive language model is trained, can be considered the experience of a semantic system. We recorded everyday reading of two participants for two months on a tablet, generating individual corpus samples of 300/500K tokens. Then we trained word2vec models from individual corpora and a 70 million-sentence newspaper corpus to obtain individual and norm-based long-term memory structure. To test whether individual corpora can make better predictions for a cognitive task of long-term memory retrieval, we generated stimulus materials consisting of 134 sentences with uncorrelated individual and norm-based word probabilities. For the subsequent eye tracking study 1-2 months later, our regression analyses revealed that individual, but not norm-corpus-based word probabilities can account for first-fixation duration and first-pass gaze duration. Word length additionally affected gaze duration and total viewing duration. The results suggest that corpora representative for an individual's longterm memory structure can better explain reading performance than a norm corpus, and that recently acquired information is lexically accessed rapidly.