2 citations · 4 across the 14 of their papers we have counts for
16 papers
I2CD: Direct Image-to-Convex Decomposition for Simulation-Ready Collision Geometry
Qian Wang, Liam Merz Hoffmeister, Brian Scassellati +1
Physics simulators and motion planners require convex collision geometry, yet image-to-3D generative models output dense, frequently non-manifold visual meshes. Bridging the two to…
Compiling Learning Problems into Adaptation Programs for Language Models
Rebecca Ramnauth, Brian Scassellati
Model adaptation is typically governed by a fixed recipe, even though different update programs can produce substantially different behavioral outcomes. We introduce adaptation com…
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…
Localized Adaptation Reveals Distinct Learning Signatures in Transformers
Rebecca Ramnauth, Brian Scassellati
Transformer adaptation is typically distributed across model depth, even when the intended change is narrow. We investigate how adaptation site shapes what a model learns, how well…
The Attentional White Bear Effect in Transformer Language Models
Rebecca Ramnauth, Brian Scassellati
Instruction-based suppression is widely used to prevent language models from generating prohibited content, yet it remains unclear whether suppression reduces internal representati…
Robotics-Inspired Guardrails for Foundation Models in Socially Sensitive Domains
Rebecca Ramnauth, Drazen Brscic, Brian Scassellati
Foundation models are increasingly deployed in socially sensitive domains such as education, mental health, and caregiving, where failures are often cumulative and context-dependen…
Towards Zero-Knowledge Task Planning via a Language-based Approach
Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
In this work, we introduce and formalize the Zero-Knowledge Task Planning (ZKTP) problem, i.e., formulating a sequence of actions to achieve some goal without task-specific knowled…
Open-Ended Goal Inference through Actions and Language for Human-Robot Collaboration
Debasmita Ghose, Oz Gitelson, Marynel Vazquez +1
To collaborate with humans, robots must infer goals that are often ambiguous, difficult to articulate, or not drawn from a fixed set. Prior approaches restrict inference to a prede…
I've Changed My Mind: Robots Adapting to Changing Human Goals during Collaboration
Debasmita Ghose, Oz Gitelson, Ryan Jin +3
For effective human-robot collaboration, a robot must align its actions with human goals, even as they change mid-task. Prior approaches often assume fixed goals, reducing goal pre…
A Robot-Assisted Approach to Small Talk Training for Adults with ASD
Rebecca Ramnauth, Dražen Brščić, Brian Scassellati
From dating to job interviews, making new friends or simply chatting with the cashier at checkout, engaging in small talk is a vital, everyday social skill. For adults with Autism…
Effects of Robot Competency and Motion Legibility on Human Correction Feedback
Shuangge Wang, Anjiabei Wang, Sofiya Goncharova +2
As robot deployments become more commonplace, people are likely to take on the role of supervising robots (i.e., correcting their mistakes) rather than directly teaching them. Prio…
Gaze Behavior During a Long-Term, In-Home, Social Robot Intervention for Children with ASD
Rebecca Ramnauth, Frederick Shic, Brian Scassellati
Atypical gaze behavior is a diagnostic hallmark of Autism Spectrum Disorder (ASD), playing a substantial role in the social and communicative challenges that individuals with ASD f…
A Grounded Observer Framework for Establishing Guardrails for Foundation Models in Socially Sensitive Domains
Rebecca Ramnauth, Dražen Brščić, Brian Scassellati
As foundation models increasingly permeate sensitive domains such as healthcare, finance, and mental health, ensuring their behavior meets desired outcomes and social expectations…
More than Chit-Chat: Developing Robots for Small-Talk Interactions
Rebecca Ramnauth, Dražen Brščić, Brian Scassellati
Beyond mere formality, small talk plays a pivotal role in social dynamics, serving as a verbal handshake for building rapport and understanding. For conversational AI and social ro…
Sequential Discrete Action Selection via Blocking Conditions and Resolutions
Liam Merz Hoffmeister, Brian Scassellati, Daniel Rakita
In this work, we introduce a strategy that frames the sequential action selection problem for robots in terms of resolving \textit{blocking conditions}, i.e., situations that imped…
REACT: Two Datasets for Analyzing Both Human Reactions and Evaluative Feedback to Robots Over Time
Kate Candon, Nicholas C. Georgiou, Helen Zhou +4
Recent work in Human-Robot Interaction (HRI) has shown that robots can leverage implicit communicative signals from users to understand how they are being perceived during interact…