117 citations · 172 across the 16 of their papers we have counts for
16 papers
Crowdsourcing Task Traces for Service Robotics
David Porfirio, Allison Sauppé, Maya Cakmak +2
Demonstration is an effective end-user development paradigm for teaching robots how to perform new tasks. In this paper, we posit that demonstration is useful not only as a teachin…
Evaluating Customization of Remote Tele-operation Interfaces for Assistive Robots
Vinitha Ranganeni, Noah Ponto, Maya Cakmak
Mobile manipulator platforms, like the Stretch RE1 robot, make the promise of in-home robotic assistance feasible. For people with severe physical limitations, like those with quad…
Sketching Robot Programs On the Fly
David Porfirio, Laura Stegner, Maya Cakmak +3
Service robots for personal use in the home and the workplace require end-user development solutions for swiftly scripting robot tasks as the need arises. Many existing solutions p…
Participatory Design for Mental Health Data Visualization on a Social Robot
Raida Karim, Edgar Lopez, Elin A. Björling +1
The intersection of data visualization and human-robot interaction (HRI) is a burgeoning field. Understanding, communicating, and processing different kinds of data for creating ve…
Share with Me: A Study on a Social Robot Collecting Mental Health Data
Raida Karim, Edgar Lopez, Katelynn Oleson +3
Social robots have been used to assist with mental well-being in various ways such as to help children with autism improve on their social skills and executive functioning such as…
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers
Yu-Wei Chao, Chris Paxton, Yu Xiang +6
We introduce a new simulation benchmark "HandoverSim" for human-to-robot object handovers. To simulate the giver's motion, we leverage a recent motion capture dataset of hand grasp…
Model Predictive Control for Fluid Human-to-Robot Handovers
Wei Yang, Balakumar Sundaralingam, Chris Paxton +4
Human-robot handover is a fundamental yet challenging task in human-robot interaction and collaboration. Recently, remarkable progressions have been made in human-to-robot handover…
Assistive Tele-op: Leveraging Transformers to Collect Robotic Task Demonstrations
Henry M. Clever, Ankur Handa, Hammad Mazhar +7
Sharing autonomy between robots and human operators could facilitate data collection of robotic task demonstrations to continuously improve learned models. Yet, the means to commun…
Learning Perceptual Concepts by Bootstrapping from Human Queries
Andreea Bobu, Chris Paxton, Wei Yang +4
When robots operate in human environments, it's critical that humans can quickly teach them new concepts: object-centric properties of the environment that they care about (e.g. ob…
Reactive Human-to-Robot Handovers of Arbitrary Objects
Wei Yang, Chris Paxton, Arsalan Mousavian +3
Human-robot object handovers have been an actively studied area of robotics over the past decade; however, very few techniques and systems have addressed the challenge of handing o…
Affordance-Aware Handovers with Human Arm Mobility Constraints
Paola Ardón, Maria E. Cabrera, Èric Pairet +4
Reasoning about object handover configurations allows an assistive agent to estimate the appropriateness of handover for a receiver with different arm mobility capacities. While th…
Human Grasp Classification for Reactive Human-to-Robot Handovers
Wei Yang, Chris Paxton, Maya Cakmak +1
Transfer of objects between humans and robots is a critical capability for collaborative robots. Although there has been a recent surge of interest in human-robot handovers, most p…
Desiderata for Planning Systems in General-Purpose Service Robots
Nick Walker, Yuqian Jiang, Maya Cakmak +1
General-purpose service robots are expected to undertake a broad range of tasks at the request of users. Knowledge representation and planning systems are essential to flexible aut…
Neural Semantic Parsing with Anonymization for Command Understanding in General-Purpose Service Robots
Nick Walker, Yu-Tang Peng, Maya Cakmak
Service robots are envisioned to undertake a wide range of tasks at the request of users. Semantic parsing is one way to convert natural language commands given to these robots int…
Vision-and-Dialog Navigation
Jesse Thomason, Michael Murray, Maya Cakmak +1
Robots navigating in human environments should use language to ask for assistance and be able to understand human responses. To study this challenge, we introduce Cooperative Visio…
Programming by Demonstration with User-Specified Perceptual Landmarks
Justin Huang, Maya Cakmak
Programming by demonstration (PbD) is an effective technique for developing complex robot manipulation tasks, such as opening bottles or using human tools. In order for such tasks…