6 papers
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…
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…
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…