From the 1 of 19 linked papers with an AI index.
19 papers
TACTIC: Tactile and Vision Conditioned Contact-Centric Control for Whole-Arm Manipulation
Rishabh Madan, Angchen Xie, Samantha Saak +7
The paper introduces TACTIC, a receding‑horizon controller that combines RGB‑D vision and distributed tactile sensing with a contact‑centric predictive model to plan and execute wh…
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…
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…
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…