18 papers · 1 filter
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…
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…