17 papers
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
Max Conway, William Xie, Allen Devaraj +14
Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entirely by humans. We present GOLEM (Generalized Open Library of Embodie…
Environment Design for Reliable Shared Autonomy with Probabilistic Guarantees
Yi-Shiuan Tung, Himanshu Gupta, Gyanig Kumar +3
Shared autonomy enables humans and robots to collaboratively perform tasks by combining human input with autonomous assistance. Most prior work focuses on improving intent inferenc…
Risk-Aware Preference Learning for Stochastic Outcomes
Yi-Shiuan Tung, Yuni Wu, Wei Jiang +2
Learning reward functions from human preferences is a widely used approach for aligning robot behavior with user expectations in human-robot interaction. Most existing approaches a…
ShelfAware: Real-Time Semantic Localization in Quasi-Static Environments with Low-Cost Sensors
Shivendra Agrawal, Jake Brawer, Ashutosh Naik +2
Many indoor workspaces are quasi-static: their global geometric layout is stable, but local semantics change continually, producing repetitive geometry, dynamic clutter, and percep…
Efficient Multi-Robot Motion Planning with Precomputed Translation-Invariant Edge Bundles
Himanshu Gupta, Paul Motter, Aritra Chakrabarty +5
Solving multi-robot motion planning (MRMP) requires generating collision-free kinodynamically feasible trajectories for multiple interacting robots. We introduce Kinodynamic Transl…
MorphIt: Flexible Spherical Approximation of Robot Morphology for Representation-driven Adaptation
Nataliya Nechyporenko, Yutong Zhang, Sean Campbell +1
What if a robot could rethink its own morphological representation to better meet the demands of diverse tasks? Most robotic systems today treat their physical form as a fixed cons…