103 citations · 998 across the 144 of their papers we have counts for
17 papers · 1 filter
Few-Shot Preference Learning for Human-in-the-Loop RL
Joey Hejna, Dorsa Sadigh
While reinforcement learning (RL) has become a more popular approach for robotics, designing sufficiently informative reward functions for complex tasks has proven to be extremely…
Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding
Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh
Acquiring food items with a fork poses an immense challenge to a robot-assisted feeding system, due to the wide range of material properties and visual appearances present across f…
Learning Bimanual Scooping Policies for Food Acquisition
Jennifer Grannen, Yilin Wu, Suneel Belkhale +1
A robotic feeding system must be able to acquire a variety of foods. Prior bite acquisition works consider single-arm spoon scooping or fork skewering, which do not generalize to f…
Assistive Teaching of Motor Control Tasks to Humans
Megha Srivastava, Erdem Biyik, Suvir Mirchandani +2
Recent works on shared autonomy and assistive-AI technologies, such as assistive robot teleoperation, seek to model and help human users with limited ability in a fixed task. Howev…
In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing
Lorenzo Shaikewitz, Yilin Wu, Suneel Belkhale +3
Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight l…
Learning Tool Morphology for Contact-Rich Manipulation Tasks with Differentiable Simulation
Mengxi Li, Rika Antonova, Dorsa Sadigh +1
When humans perform contact-rich manipulation tasks, customized tools are often necessary to simplify the task. For instance, we use various utensils for handling food, such as kni…