10 citations · 12 across the 26 of their papers we have counts for
9 papers · 1 filter
Robots Influencing Humans to Reveal their Goals during Collaboration and Competition
Debasmita Ghose, Oz Gitelson, Michal Lewkowicz +3
We propose a unified strategy for fast goal inference in human-robot interaction. The core idea is to drive the human toward Critical Decision Points (CDPs)-states where competing…
GOLEM: Modular Humanoid Autonomy Towards Electric Vehicle Battery Disassembly
Max Conway, William Xie, Allen Devaraj +14
Disassembling end-of-life electric vehicle (EV) battery packs is dull and dangerous work, performed almost entirely by humans. We present GOLEM (Generalized Open Library of Embodie…
Environment Design for Reliable Shared Autonomy with Probabilistic Guarantees
Yi-Shiuan Tung, Himanshu Gupta, Gyanig Kumar +3
Shared autonomy enables humans and robots to collaboratively perform tasks by combining human input with autonomous assistance. Most prior work focuses on improving intent inferenc…
Risk-Aware Preference Learning for Stochastic Outcomes
Yi-Shiuan Tung, Yuni Wu, Wei Jiang +2
Learning reward functions from human preferences is a widely used approach for aligning robot behavior with user expectations in human-robot interaction. Most existing approaches a…
Efficient Multi-Robot Motion Planning with Precomputed Translation-Invariant Edge Bundles
Himanshu Gupta, Paul Motter, Aritra Chakrabarty +5
Solving multi-robot motion planning (MRMP) requires generating collision-free kinodynamically feasible trajectories for multiple interacting robots. We introduce Kinodynamic Transl…
Physically Accurate Rigid-Body Dynamics in Particle-Based Simulation
Ava Abderezaei, Nataliya Nechyporenko, Joseph Miceli +2
Robotics demands simulation that can reason about the diversity of real-world physical interactions, from rigid to deformable objects and fluids. Current simulators address this by…
Moving On, Even When You're Broken: Fail-Active Trajectory Generation via Diffusion Policies Conditioned on Embodiment and Task
Gilberto G. Briscoe-Martinez, Yaashia Gautam, Rahul Shetty +3
Robot failure is detrimental and disruptive, often requiring human intervention to recover. Our vision is 'fail-active' operation, allowing robots to safely complete their tasks ev…
FAME: Force-Adaptive RL for Expanding the Manipulation Envelope of a Full-Scale Humanoid
Niraj Pudasaini, Yutong Zhang, Jensen Lavering +4
Maintaining balance under external hand forces is critical for humanoid bimanual manipulation, where interaction forces propagate through the kinematic chain and constrain the feas…
CRED: Counterfactual Reasoning and Environment Design for Active Preference Learning
Yi-Shiuan Tung, Gyanig Kumar, Wei Jiang +2
As a robot's operational environment and tasks to perform within it grow in complexity, the explicit specification and balancing of optimization objectives to achieve a preferred b…