3 papers
cs.RO2026
Mutual Adaptation in Human-Robot Co-Transportation with Human Preference Uncertainty
Al Jaber Mahmud, Weizi Li, Xuan Wang
Mutual adaptation can enhance overall task performance in human-robot co-transportation by integrating both the robot's and the human's understanding of the environment. While huma…
cs.RO2026
Geometry-Aligned LLM Fine-Tuning for Sequential Narrow-Opening Planning
Al Jaber Mahmud, Xuan Wang
We study rigid-body motion planning through multiple sequential narrow openings, which requires long-horizon geometric reasoning because the configuration used to traverse an early…
cs.RO2025
Human-Robot Co-Transportation using Disturbance-Aware MPC with Pose Optimization
Al Jaber Mahmud, Amir Hossain Raj, Duc M. Nguyen +3
This paper proposes a new control algorithm for human-robot co-transportation using a robot manipulator equipped with a mobile base and a robotic arm. We integrate the regular Mode…