52 citations · 204 across the 57 of their papers we have counts for
12 papers · 1 filter
Same Goal, Different Words: Spatial Instruction Sensitivity in World-Action Models
Ali-Adeeb Abbas, Esmaeil Seraj, Behrad Toghi +2
World-action models should preserve the intended manipulation across equivalent descriptions of a spatial goal. We evaluate this consistency in 864 rollouts from three models acros…
Factorized Tactile Representation and Control for Sim-to-Real Manipulation
Siqi Shang, Bianca Aumann, Tye Brady +2
Tactile sim-to-real learning must bridge simulated contact and device-specific sensor responses while preserving information needed for control. We propose a factorized tactile rep…
Universal Navigation Interface: Robot-Free Data for Wheeled Robot Navigation
Sarvesh Prajapati, Ananya Trivedi, Lorena Maria Genua +3
Collecting real-world navigation data for mobile robots typically requires platform-specific teleoperation, making large-scale collection expensive and difficult to scale. We intro…
Accelerating Optimization over Graphs of Convex Sets via Neural Network Approximations
Ananya Trivedi, Sarvesh Prajapati, Mohamed Khalid M Jaffar +3
Motion planning problems such as collision-free navigation and contact-rich manipulation can be naturally formulated as optimization problems that couple discrete decisions with co…
Layered Risk Mapping for Autonomous Patient Transport in Expeditionary Medical Facilities
Lorena Maria Genua, Sarvesh Prajapati, Damla Leblebicioglu +1
In expeditionary medical facilities, routine patient transport imposes a compounding burden of personal protective equipment consumption, staff diversion, and elevated infection ri…
Socially-Aware Autonomous Doorway Traversal and Payload Delivery for Emergency Assistance
Andrew Snowdy, Ananya Trivedi, Sarvesh Prajapati +2
In this work, we focus on the scenario of a robot-assisted emergency evacuation. We consider two capabilities relevant to such a setting. The first is opening doors ahead of the pe…
Just Keep Prompting: Evaluating Repetitive Socratic Prompting in VLMs
Shayda Moezzi, Bishoy Galoaa, Lorena Genua +2
Deploying Vision-Language Models (VLMs) in real-world settings requires not only strong visual reasoning but also stability under sustained conversational pressure. We introduce Ju…
TACTFUL: Tactile-Driven Exploration For Object Localization and Identification in Confined Environments
Shivani Kamtikar, Chung Hee Kim, Camilla Tabasso +3
Humans effortlessly locate and identify objects by touch alone, even without vision. In contrast, robotic systems rely heavily on vision and struggle with autonomous tactile explor…
JOIN: Anchor-Grasp-Conditioned Joining via Opposition, Inference, and Navigation for Bimanual Assistive Manipulation
Drake Moore, Matt Cheng, Xiang Zhi Tan +1
Assistive mobility and manipulation platforms have received increasing attention as a means of restoring independence to individuals with disabilities. While effective for many bas…
Grasp, Slide, Roll: Comparative Analysis of Contact Modes for Tactile-Based Shape Reconstruction
Chung Hee Kim, Shivani Kamtikar, Tye Brady +2
Tactile sensing allows robots to gather detailed geometric information about objects through physical interaction, complementing vision-based approaches. However, efficiently acqui…
Adaptive Time Step Flow Matching for Autonomous Driving Motion Planning
Ananya Trivedi, Anjian Li, Mohamed Elnoor +7
Autonomous driving requires reasoning about interactions with surrounding traffic. A prevailing approach is large-scale imitation learning on expert driving datasets, aimed at gene…
"Meet My Sidekick!": Effects of Separate Identities and Control of a Single Robot in HRI
Drake Moore, Arushi Aggarwal, Emily Taylor +3
The presentation of a robot's capability and identity directly influences a human collaborator's perception and implicit trust in the robot. Unlike humans, a physical robot can sim…