2 citations · 6 across the 27 of their papers we have counts for
7 papers · 1 filter
GraspTwin: Zero-Shot Task-Oriented Grasp Optimization via a Digital Twin
Daniel J. Evans, Yinlong Dai, Simon Stepputtis +1
As robots transition from structured factory settings into homes, they are required to interact with an ever-increasing variety of objects. Many tasks require grasping, and often i…
Belief-Aware Influence and Trust (BAIT): Shaping Human Belief During Repeated Human-Robot Interaction
Ye-Ji Mun, Mahsa Golchoubian, Shahabedin Sagheb +4
Repeated human-robot interaction (HRI) requires proactively accounting for humans who continually adapt to evolving beliefs about the robot. Prior frameworks often treat encounters…
VOLT: Vision and Language Trajectory Segmentation for Faster-than-Demonstration Policies
Robert Ramirez Sanchez, Daniel J. Evans, Dylan P. Losey +1
Humans often take longer to demonstrate a task than a robot would need to execute it. Rather than learning to replicate the demonstration at the same pace, many industrial and prac…
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
When humans learn new manipulation skills, they are able to generalize these skills to new contexts and environments. In particular, when learning, humans can easily separate task-…
From Local Corrections to Generalized Skills: Improving Neuro-Symbolic Policies with MEMO
Benjamin A. Christie, Yinlong Dai, Mohammad Bararjanianbahnamiri +2
Recent works use a neuro-symbolic framework for general manipulation policies. The advantage of this framework is that -- by applying off-the-shelf vision and language models -- th…
Language Movement Primitives: Grounding Language Models in Robot Motion
Yinlong Dai, Benjamin A. Christie, Daniel J. Evans +2
Enabling robots to perform novel manipulation tasks from natural language instructions remains a fundamental challenge in robotics, despite significant progress in generalized prob…