10 papers · 1 filter
High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing
Arjun S. Lakshmipathy, Jonathan P. King, Ethan Zuo +6
Despite the demand for robots in high-value clinical tasks like bathing, contemporary systems still lack the safety and reliability required for complex, sustained physical interac…
SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA
Crystal Zhou, Jehan Yang, Douglas J. Weber +1
Recent advancements in Vision-Language-Action (VLA) models have demonstrated impressive generalist capabilities in robot manipulation, yet these policies can be brittle under out-o…
Generative Simulation for Policy Learning in Physical Human-Robot Interaction
Junxiang Wang, Xinwen Xu, Tiancheng Wu +3
Developing autonomous physical human-robot interaction (pHRI) systems is limited by the scarcity of large-scale training data to learn robust robot behaviors for real-world applica…
Control Without Control: Defining Implicit Interaction Paradigms for Autonomous Assistive Robots
Janavi Gupta, Kavya Puthuveetil, Dimitra Tsakona +3
Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks,…
Dexterous Manipulation Policies from RGB Human Videos via 3D Hand-Object Trajectory Reconstruction
Hongyi Chen, Tony Dong, Tiancheng Wu +7
Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing app…
Bidirectional Human-Robot Communication for Physical Human-Robot Interaction
Junxiang Wang, Cindy Wang, Rana Soltani Zarrin +1
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE,…