2 citations · 12 across the 15 of their papers we have counts for
16 papers
Feeling Through the Load: Compliant Quadruped Locomotion under Payload Interactions
Shaunak A. Mehta, Mayank Mishra, Prajit KrisshnaKumar +2
Quadruped robots are increasingly expected to carry objects while moving through human environments. But what happens when a person interacts directly with the payload rather than…
When Reasoning Traces Become Performative: Step-Level Evidence that Chain-of-Thought Is an Imperfect Oversight Channel
Wenkai Li, Fan Yang, Ananya Hazarika +2
Chain-of-thought (CoT) traces are increasingly used both to improve language model capability and to audit model behavior, implicitly assuming that the visible trace remains synchr…
Persona Non Grata: Single-Method Safety Evaluation Is Incomplete for Persona-Imbued LLMs
Wenkai Li, Fan Yang, Shaunak A. Mehta +1
Personality imbuing customizes LLM behavior, but safety evaluations almost always study prompt-based personas alone. We show this is incomplete: prompting and activation steering e…
IndoorR2X: Indoor Robot-to-Everything Coordination with LLM-Driven Planning
Fan Yang, Soumya Teotia, Shaunak A. Mehta +8
Although robot-to-robot (R2R) communication improves indoor scene understanding beyond what a single robot can achieve, R2R alone cannot overcome partial observability without subs…
Combining Performance and Passivity in Linear Control of Series Elastic Actuators
Shaunak A. Mehta, Dylan P. Losey
When humans physically interact with robots, we need the robots to be both safe and performant. Series elastic actuators (SEAs) fundamentally advance safety by introducing complian…
L2D2: Robot Learning from 2D Drawings
Shaunak A. Mehta, Heramb Nemlekar, Hari Sumant +1
Robots should learn new tasks from humans. But how do humans convey what they want the robot to do? Existing methods largely rely on humans physically guiding the robot arm through…
On the Feasibility of A Mixed-Method Approach for Solving Long Horizon Task-Oriented Dexterous Manipulation
Shaunak A. Mehta, Rana Soltani Zarrin
In-hand manipulation of tools using dexterous hands in real-world is an underexplored problem in the literature. In addition to more complex geometry and larger size of the tools c…
Stable-BC: Controlling Covariate Shift with Stable Behavior Cloning
Shaunak A. Mehta, Yusuf Umut Ciftci, Balamurugan Ramachandran +2
Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by th…
Combining and Decoupling Rigid and Soft Grippers to Enhance Robotic Manipulation
Maya Keely, Yeunhee Kim, Shaunak A. Mehta +6
For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with e…
Waypoint-Based Reinforcement Learning for Robot Manipulation Tasks
Shaunak A. Mehta, Soheil Habibian, Dylan P. Losey
Robot arms should be able to learn new tasks. One framework here is reinforcement learning, where the robot is given a reward function that encodes the task, and the robot autonomo…
StROL: Stabilized and Robust Online Learning from Humans
Shaunak A. Mehta, Forrest Meng, Andrea Bajcsy +1
Robots often need to learn the human's reward function online, during the current interaction. This real-time learning requires fast but approximate learning rules: when the human'…
RISO: Combining Rigid Grippers with Soft Switchable Adhesives
Shaunak A. Mehta, Yeunhee Kim, Joshua Hoegerman +2
Robot arms that assist humans should be able to pick up, move, and release everyday objects. Today's assistive robot arms use rigid grippers to pinch items between fingers; while t…
Unified Learning from Demonstrations, Corrections, and Preferences during Physical Human-Robot Interaction
Shaunak A. Mehta, Dylan P. Losey
Humans can leverage physical interaction to teach robot arms. This physical interaction takes multiple forms depending on the task, the user, and what the robot has learned so far.…
SARI: Shared Autonomy across Repeated Interaction
Ananth Jonnavittula, Shaunak A. Mehta, Dylan P. Losey
Assistive robot arms try to help their users perform everyday tasks. One way robots can provide this assistance is shared autonomy. Within shared autonomy, both the human and robot…
Learning Latent Actions without Human Demonstrations
Shaunak A. Mehta, Sagar Parekh, Dylan P. Losey
We can make it easier for disabled users to control assistive robots by mapping the user's low-dimensional joystick inputs to high-dimensional, complex actions. Prior works learn t…
Student Mixture Model Based Visual Servoing
Mithun. P, Shaunak A. Mehta, Suril V. Shah +2
Classical Image-Based Visual Servoing (IBVS) makes use of geometric image features like point, straight line and image moments to control a robotic system. Robust extraction and re…