1 citations · 1 across the 10 of their papers we have counts for
14 papers · 1 filter
A Pivot-Based Kirigami Utensil for Hand-Held and Robot-Assisted Feeding
Keone Leao, Grace Brotherson, Iain Mischel +2
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficu…
TransMASK: Masked State Representation through Learned Transformation
Sagar Parekh, Preston Culbertson, Dylan P. Losey
Humans train robots to complete tasks in one environment, and expect robots to perform those same tasks in new environments. As humans, we know which aspects of the environment (i.…
Teleoperator-Aware and Safety-Critical Adaptive Nonlinear MPC for Shared Autonomy in Obstacle Avoidance of Legged Robots
Ruturaj Sambhus, Muneeb Ahmad, Basit Muhammad Imran +3
Ensuring safe and effective collaboration between humans and autonomous legged robots is a fundamental challenge in shared autonomy, particularly for teleoperated systems navigatin…
Prepare Before You Act: Learning From Humans to Rearrange Initial States
Yinlong Dai, Andre Keyser, Dylan P. Losey
Imitation learning (IL) has proven effective across a wide range of manipulation tasks. However, IL policies often struggle when faced with out-of-distribution observations; for in…
Combining Performance and Passivity in Linear Control of Series Elastic Actuators
Shaunak A. Mehta, Dylan P. Losey
When humans physically interact with robots, we need the robots to be both safe and performant. Series elastic actuators (SEAs) fundamentally advance safety by introducing complian…
Fine-Tuning Robot Policies While Maintaining User Privacy
Benjamin A. Christie, Sagar Parekh, Dylan P. Losey
Recent works introduce general-purpose robot policies. These policies provide a strong prior over how robots should behave -- e.g., how a robot arm should manipulate food items. Bu…