62 citations · 102 across the 43 of their papers we have counts for
46 papers
TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation
Rishabh Madan, Angchen Xie, Samantha Saak +7
Whole-arm manipulation involves direct contact with the environment while the robot completes a task by distributing contact across multiple links as contacts form, slide, and brea…
SensorPerch: Sense Wherever and Whenever it Matters
Zhanxin Wu, Ruofei Tong, Tapomayukh Bhattacharjee
Existing robotic perception is constrained by sensors that are either robot-mounted or permanently fixed in the environment, locking perception to a limited set of viewpoints. Yet…
Embodiment Meets Environment: Toward Context-Aware, Safe Physical Caregiving Robots
Zhanxin Wu, Ruofei Tong, Jiaying Fang +1
Physical caregiving robots need to assist different users with different tasks in diverse environments, and they come in many embodiments. While substantial progress has been made…
Beyond Failure Recovery: An Engagement-Aware Human-in-the-loop Framework for Robotic Systems
Jiaying Fang, Joyce Yang, Zhanxin Wu +2
Conventional human-in-the-loop approaches typically involve users only when a robot encounters failure or uncertainty, treating humans primarily as tools for improving robot perfor…
A Human-in-the-Loop Confidence-Aware Failure Recovery Framework for Modular Robot Policies
Rohan Banerjee, Krishna Palempalli, Bohan Yang +5
Robots operating in unstructured human environments inevitably encounter failures, especially in robot caregiving scenarios. While humans can often help robots recover, excessive o…
Using Vision-Language Models as Proxies for Social Intelligence in Human-Robot Interaction
Fanjun Bu, Melina Tsai, Audrey Tjokro +3
Robots operating in everyday environments must often decide when and whether to engage with people, yet such decisions often hinge on subtle nonverbal cues that unfold over time an…
OpenRoboCare: A Multimodal Multi-Task Expert Demonstration Dataset for Robot Caregiving
Xiaoyu Liang, Ziang Liu, Kelvin Lin +10
We present OpenRoboCare, a multimodal dataset for robot caregiving, capturing expert occupational therapist demonstrations of Activities of Daily Living (ADLs). Caregiving tasks in…
EgoCogNav: Cognition-aware Human Egocentric Navigation
Zhiwen Qiu, Ziang Liu, Wenqian Niu +2
Modeling the cognitive and experiential factors of human navigation is central to deepening our understanding of human-environment interaction and to enabling safe social navigatio…
WAFFLE: A Wearable Approach to Bite Timing Estimation in Robot-Assisted Feeding
Akhil Padmanabha, Jessie Yuan, Tanisha Mehta +10
Millions of people around the world need assistance with feeding. Robotic feeding systems offer the potential to enhance autonomy and quality of life for individuals with impairmen…
PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction
Rishabh Madan, Jiawei Lin, Mahika Goel +10
Physical human-robot interaction (pHRI) requires robots to adapt to individual contact preferences, such as where and how much force is applied. Identifying preferences is difficul…
FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization
Rajat Kumar Jenamani, Tom Silver, Ben Dodson +7
Physical caregiving robots hold promise for improving the quality of life of millions worldwide who require assistance with feeding. However, in-home meal assistance remains challe…
SAVOR: Skill Affordance Learning from Visuo-Haptic Perception for Robot-Assisted Bite Acquisition
Zhanxin Wu, Bo Ai, Tom Silver +1
Robot-assisted feeding requires reliable bite acquisition, a challenging task due to the complex interactions between utensils and food with diverse physical properties. These inte…
Coloring Between the Lines: Personalization in the Null Space of Planning Constraints
Tom Silver, Rajat Kumar Jenamani, Ziang Liu +2
Generalist robots must personalize in-the-wild to meet the diverse needs and preferences of long-term users. How can we enable flexible personalization without sacrificing safety o…
CLAMP: Crowdsourcing a LArge-scale in-the-wild haptic dataset with an open-source device for Multimodal robot Perception
Pranav N. Thakkar, Shubhangi Sinha, Karan Baijal +11
Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that ca…
GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings
Ziang Liu, Yuanchen Ju, Yu Da +6
Robot caregiving should be personalized to meet the diverse needs of care recipients -- assisting with tasks as needed, while taking user agency in action into account. In physical…
CART-MPC: Coordinating Assistive Devices for Robot-Assisted Transferring with Multi-Agent Model Predictive Control
Ruolin Ye, Shuaixing Chen, Yunting Yan +6
Bed-to-wheelchair transferring is a ubiquitous activity of daily living (ADL), but especially challenging for caregiving robots with limited payloads. We develop a novel algorithm…
Kiri-Spoon: A Kirigami Utensil for Robot-Assisted Feeding
Maya Keely, Brandon Franco, Casey Grothoff +4
For millions of adults with mobility limitations, eating meals is a daily challenge. A variety of robotic systems have been developed to address this societal need. Unfortunately,…
REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-assisted Feeding
Nayoung Ha, Ruolin Ye, Ziang Liu +2
The paper presents REPeat, a Real2Sim2Real framework designed to enhance bite acquisition in robot-assisted feeding for soft foods. It uses `pre-acquisition actions' such as pushin…
FLAIR: Feeding via Long-horizon AcquIsition of Realistic dishes
Rajat Kumar Jenamani, Priya Sundaresan, Maram Sakr +2
Robot-assisted feeding has the potential to improve the quality of life for individuals with mobility limitations who are unable to feed themselves independently. However, there ex…
MORPHeus: a Multimodal One-armed Robot-assisted Peeling System with Human Users In-the-loop
Ruolin Ye, Yifei Hu, Yuhan +3
Meal preparation is an important instrumental activity of daily living~(IADL). While existing research has explored robotic assistance in meal preparation tasks such as cutting and…
CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction
Boxin Xu, Luoyan Zhong, Grace Zhang +4
Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable t…
To Ask or Not To Ask: Human-in-the-loop Contextual Bandits with Applications in Robot-Assisted Feeding
Rohan Banerjee, Rajat Kumar Jenamani, Sidharth Vasudev +4
Robot-assisted bite acquisition involves picking up food items with varying shapes, compliance, sizes, and textures. Fully autonomous strategies may not generalize efficiently acro…
An Adaptable, Safe, and Portable Robot-Assisted Feeding System
Ethan Kroll Gordon, Rajat Kumar Jenamani, Amal Nanavati +12
We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, w…
Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control
Rajat Kumar Jenamani, Daniel Stabile, Ziang Liu +3
Robot-assisted feeding can greatly enhance the lives of those with mobility limitations. Modern feeding systems can pick up and position food in front of a care recipient's mouth f…