2 citations · 5 across the 19 of their papers we have counts for
13 papers · 1 filter
AirDreamer: Generalist Drone Navigation with World Models
Zian Liu, Andong Yang, Chunkai Yang +3
Navigating a drone in unseen and cluttered environments requires reliable generalization to unseen scene layouts and understanding of environmental structure relative to the robot'…
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…
REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-assisted Feeding
Nayoung Ha, Ruolin Ye, Ziang Liu +2
The paper presents REPeat, a Real2Sim2Real framework designed to enhance bite acquisition in robot-assisted feeding for soft foods. It uses `pre-acquisition actions' such as pushin…
An Adaptable, Safe, and Portable Robot-Assisted Feeding System
Ethan Kroll Gordon, Rajat Kumar Jenamani, Amal Nanavati +12
We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, w…
Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control
Rajat Kumar Jenamani, Daniel Stabile, Ziang Liu +3
Robot-assisted feeding can greatly enhance the lives of those with mobility limitations. Modern feeding systems can pick up and position food in front of a care recipient's mouth f…
Model-Based Control with Sparse Neural Dynamics
Ziang Liu, Genggeng Zhou, Jeff He +4
Learning predictive models from observations using deep neural networks (DNNs) is a promising new approach to many real-world planning and control problems. However, common DNNs ar…
Learning to Design and Use Tools for Robotic Manipulation
Ziang Liu, Stephen Tian, Michelle Guo +2
When limited by their own morphologies, humans and some species of animals have the remarkable ability to use objects from the environment toward accomplishing otherwise impossible…
Diffusion Co-Policy for Synergistic Human-Robot Collaborative Tasks
Eley Ng, Ziang Liu, Monroe Kennedy
Modeling multimodal human behavior has been a key barrier to increasing the level of interaction between human and robot, particularly for collaborative tasks. Our key insight is t…
It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying
Eley Ng, Ziang Liu, Monroe Kennedy
Cooperative table-carrying is a complex task due to the continuous nature of the action and state-spaces, multimodality of strategies, and the need for instantaneous adaptation to…
Inferring Articulated Rigid Body Dynamics from RGBD Video
Eric Heiden, Ziang Liu, Vibhav Vineet +2
Being able to reproduce physical phenomena ranging from light interaction to contact mechanics, simulators are becoming increasingly useful in more and more application domains whe…