62 citations · 102 across the 43 of their papers we have counts for
11 papers · 2 filters
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…
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,…