The rapid development of artificial intelligence and robotics has had a significant impact on our lives, with intelligent systems increasingly performing tasks traditionally performed by humans. Efficient knowledge transfer requires matching the mental model of the human teacher with the capabilities of the robot learner. This paper introduces the Mental Model Mismatch (MMM) Score, a feedback mechanism designed to quantify and reduce mismatches by aligning human teaching behavior with robot learning behavior. Using Large Language Models (LLMs), we analyze teacher intentions in natural language to generate adaptive feedback. A study with 150 participants teaching a virtual robot to solve a puzzle game shows that intention-based feedback significantly outperforms traditional performance-based feedback or no feedback. The results suggest that intention-based feedback improves instructional outcomes, improves understanding of the robot's learning process and reduces misconceptions. This research addresses a critical gap in human-robot interaction (HRI) by providing a method to quantify and mitigate discrepancies between human mental models and robot capabilities, with the goal of improving robot learning and human teaching effectiveness.

We examine how users perceive the limitations of an AI system when it encounters a task that it cannot perform perfectly and whether providing explanations alongside its answers aids users in constructing an appropriate mental model of the system's capabilities and limitations. We employ a visual question answer and explanation task where we control the AI system's limitations by manipulating the visual inputs: during inference, the system either processes full-color or grayscale images. Our goal is to determine whether participants can perceive the limitations of the system. We hypothesize that explanations will make limited AI capabilities more transparent to users. However, our results show that explanations do not have this effect. Instead of allowing users to more accurately assess the limitations of the AI system, explanations generally increase users' perceptions of the system's competence - regardless of its actual performance.

How can a robot provide unobtrusive physical support within a group of humans? We present Attentive Support, a novel interaction concept for robots to support a group of humans. It combines scene perception, dialogue acquisition, situation understanding, and behavior generation with the common-sense reasoning capabilities of Large Language Models (LLMs). In addition to following user instructions, Attentive Support is capable of deciding when and how to support the humans, and when to remain silent to not disturb the group. With a diverse set of scenarios, we show and evaluate the robot's attentive behavior, which supports and helps the humans when required, while not disturbing if no help is needed.

Nowadays, we are dealing more and more with robots and AI in everyday life. However, their behavior is not always apparent to most lay users, especially in error situations. As a result, there can be misconceptions about the behavior of the technologies in use. This, in turn, can lead to misuse and rejection by users. Explanation, for example, through transparency, can address these misconceptions. However, it would be confusing and overwhelming for users if the entire software or hardware was explained. Therefore, this paper looks at the 'enabling' architecture. It describes those aspects of a robotic system that might need to be explained to enable someone to use the technology effectively. Furthermore, this paper is concerned with the 'explanandum', which is the corresponding misunderstanding or missing concepts of the enabling architecture that needs to be clarified. We have thus developed and present an approach for determining this 'enabling' architecture and the resulting 'explanandum' of complex technologies.

When training automated systems, it has been shown to be beneficial to adapt the representation of data by learning a problem-specific metric. We extend this idea and, for the widely used family of k nearest neighbors algorithms, develop a method that allows learning locally adaptive metrics. To demonstrate important aspects of how our approach works, we conduct a number of experiments on synthetic data sets, and we show its usefulness on real-world benchmark data sets. Machine learning models increasingly pervade our daily lives in the form of recommendation systems, computer vision, driver assistance, etc., challenging us to realize seamless cooperation between human and algorithmic agents. One desirable property of predictions made by machine learning models is their transparency, expressed in such a way as a statement about which factors of a given setting have the greatest influence on the decision at hand - in particular, this requirement aligns with the EU General Data Protection Regulations, which include a "right to explanation" [1].

The use of convolutional neural networks has led to tremendous achievements since Krizhevsky et al. [1] presented AlexNet in 2012. Despite efforts to understand the inner workings of such neural networks, they mostly remain black boxes that are hard to interpret or explain. The issue was exaggerated in 2013 when Szegedy et al. [2] showed that "adversarial examples" - images perturbed in such a way that they fool a neural network - prove that neural networks do not simply work correctly the way one might naïvely expect. Typically,such adversarial attacks change an input only slightly, but in an adversarial manner, such that humans would not regard the difference of the inputs relevant, but machines do. There are various types of attacks, such as one pixel attacks, attacks that work in the physical world, and attacks that produce inputs fooling several different neural networks without explicit knowledge of those networks [3, 4, 5].

We present a new approach to the supervised learning of lateral interactions for the competitive layer model (CLM) dynamic feature binding architecture. The method is based on consistency conditions, which were recently shown to characterize the attractor states of this linear threshold recurrent network. For a given set of training examples the learning problem is formulated as a convex quadratic optimization problem in the lateral interaction weights. An efficient dimension reduction of the learning problem can be achieved by using a linear superposition of basis interactions. We show the successful application of the method to a medical image segmentation problem of fluorescence microscope cell images.

We present a new approach to the supervised learning of lateral interactions forthe competitive layer model (CLM) dynamic feature binding architecture. The method is based on consistency conditions, which were recently shown to characterize the attractor states of this linear threshold recurrent network. For a given set of training examples the learning problem isformulated as a convex quadratic optimization problem in the lateral interaction weights. An efficient dimension reduction of the learning problem can be achieved by using a linear superposition of basis interactions.