23 citations · 31 across the 9 of their papers we have counts for
10 papers
Nonlinear Posterior-Mean Feedback Codes for AWGN Channels
Yingyao Zhou, Natasha Devroye, Milos Zefran +1
Feedback can improve the reliability of communication over additive white Gaussian noise (AWGN) channels. Classical feedback codes are interpretable, or easy to understand, but oft…
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics
Open-H-Embodiment Consortium, :, Nigel Nelson +213
Autonomous medical robots hold promise to improve patient outcomes, reduce provider workload, democratize access to care, and enable superhuman precision. However, autonomous medic…
Recognizing Intent in Collaborative Manipulation
Zhanibek Rysbek, Ki Hwan Oh, Milos Zefran
Collaborative manipulation is inherently multimodal, with haptic communication playing a central role. When performed by humans, it involves back-and-forth force exchanges between…
An End-to-End Human Simulator for Task-Oriented Multimodal Human-Robot Collaboration
Afagh Mehri Shervedani, Siyu Li, Natawut Monaikul +3
This paper proposes a neural network-based user simulator that can provide a multimodal interactive environment for training Reinforcement Learning (RL) agents in collaborative tas…
Robots Taking Initiative in Collaborative Object Manipulation: Lessons from Physical Human-Human Interaction
Zhanibek Rysbek, Ki Hwan Oh, Afagh Mehri Shervedani +3
Physical Human-Human Interaction (pHHI) involves the use of multiple sensory modalities. Studies of communication through spoken utterances and gestures are well established, but c…
Multimodal Reinforcement Learning for Robots Collaborating with Humans
Afagh Mehri Shervedani, Siyu Li, Natawut Monaikul +3
Robot assistants for older adults and people with disabilities need to interact with their users in collaborative tasks. The core component of these systems is an interaction manag…
Evaluating Multimodal Interaction of Robots Assisting Older Adults
Afagh Mehri Shervedani, Ki-Hwan Oh, Bahareh Abbasi +4
We outline our work on evaluating robots that assist older adults by engaging with them through multiple modalities that include physical interaction. Our thesis is that to increas…
Group-based control of large-scale micro-robot swarms with on-board Physical Finite-State Machines
Siyu Li, Milos Zefran, Igor Paprotny
An important problem in microrobotics is how to control a large group of microrobots with a global control signal. This paper focuses on controlling a large-scale swarm of MicroStr…
Understanding of Object Manipulation Actions Using Human Multi-Modal Sensory Data
Bahareh Abbasi, Ehsan Noohi, Sina Parastegari +1
Object manipulation actions represent an important share of the Activities of Daily Living (ADLs). In this work, we study how to enable service robots to use human multi-modal data…
A Comparison of the Embedding Method to Multi-Parametric Programming, Mixed-Integer Programming, Gradient-Descent, and Hybrid Minimum Principle Based Methods
Richard Meyer, Miloš Žefran, Raymond A. DeCarlo
In recent years, the embedding approach for solving switched optimal control problems has been developed in a series of papers. However, the embedding approach, which advantageousl…