5 papers
MAC-SLU: Multi-Intent Automotive Cabin Spoken Language Understanding Benchmark
Yuezhang Peng, Chonghao Cai, Ziang Liu +10
Spoken Language Understanding (SLU), which aims to extract user semantics to execute downstream tasks, is a crucial component of task-oriented dialog systems. Existing SLU datasets…
OpenRoboCare: A Multimodal Multi-Task Expert Demonstration Dataset for Robot Caregiving
Xiaoyu Liang, Ziang Liu, Kelvin Lin +10
We present OpenRoboCare, a multimodal dataset for robot caregiving, capturing expert occupational therapist demonstrations of Activities of Daily Living (ADLs). Caregiving tasks in…
FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization
Rajat Kumar Jenamani, Tom Silver, Ben Dodson +7
Physical caregiving robots hold promise for improving the quality of life of millions worldwide who require assistance with feeding. However, in-home meal assistance remains challe…
Coloring Between the Lines: Personalization in the Null Space of Planning Constraints
Tom Silver, Rajat Kumar Jenamani, Ziang Liu +2
Generalist robots must personalize in-the-wild to meet the diverse needs and preferences of long-term users. How can we enable flexible personalization without sacrificing safety o…
GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings
Ziang Liu, Yuanchen Ju, Yu Da +6
Robot caregiving should be personalized to meet the diverse needs of care recipients -- assisting with tasks as needed, while taking user agency in action into account. In physical…