1 citations · 1 across the 13 of their papers we have counts for
16 papers
What Should Embodied Agents Remember? Benchmarking and Evaluating Memory Modality for Embodied Agents
Junxiang Wang, Yuchen Liu, Yi Wu +6
Memory allows large language model (LLM) agents to use past experience, often stored as textual records, when responding to requests. For embodied agents that control robots, visua…
Tendon-Driven Continuum Robot with Modular Stiffness and In-Situ Self Pose Estimation
Guo Ning Sue, Guo Ning, Sue +7
Continuum robots enable smooth shape morphing and safe interaction in confined environments. However, most existing systems are task-specific and depend on external sensing infrast…
Continual Field-Adaptive Models (CFAMs) for Post-Deployment Physical AI
Amarjot Singh, Tanmay R. Pancholi, Jainam Kothari +7
Unattended interactive autonomy - machines that step into danger in place of humans and complete tasks with human tools - remains a missing capability in mission-critical operation…
High Fidelity Capture, Reconstruction, and Transfer of Human Demonstrations for Robot-Assisted Bathing
Arjun S. Lakshmipathy, Jonathan P. King, Ethan Zuo +6
Despite the demand for robots in high-value clinical tasks like bathing, contemporary systems still lack the safety and reliability required for complex, sustained physical interac…
SAPS: Shared Autonomy for Policy Steering by Blending Teleoperation with a Pretrained VLA
Crystal Zhou, Jehan Yang, Douglas J. Weber +1
Vision-Language-Action (VLA) models perform well in generalist robot manipulation but remain brittle to out-of-distribution perturbations, while full human teleoperation is cogniti…
GenPHRI: Agentic Generative Simulation for Physical Human-Robot Interaction
Junxiang Wang, Xinwen Xu, Tiancheng Wu +4
Real-world physical human-robot interaction (pHRI) development is costly and slow, while simulation requires substantial task-specific scene and motion authoring. We present GenPHR…
Control Without Control: Defining Implicit Interaction Paradigms for Autonomous Assistive Robots
Janavi Gupta, Kavya Puthuveetil, Dimitra Tsakona +3
Assistive robotic systems have shown growing potential to improve the quality of life of those with disabilities. As researchers explore the automation of various caregiving tasks,…
Dexterous Manipulation Policies from RGB Human Videos via 3D Hand-Object Trajectory Reconstruction
Hongyi Chen, Tony Dong, Tiancheng Wu +7
Multi-finger robotic hand manipulation and grasping are challenging due to the high-dimensional action space and the difficulty of acquiring large-scale training data. Existing app…
Bidirectional Human-Robot Communication for Physical Human-Robot Interaction
Junxiang Wang, Cindy Wang, Rana Soltani Zarrin +1
Effective physical human-robot interaction requires systems that are not only adaptable to user preferences but also transparent about their actions. This paper introduces BRIDGE,…
WAFFLE: A Wearable Approach to Bite Timing Estimation in Robot-Assisted Feeding
Akhil Padmanabha, Jessie Yuan, Tanisha Mehta +10
Millions of people around the world need assistance with feeding. Robotic feeding systems offer the potential to enhance autonomy and quality of life for individuals with impairmen…
ORB: Operating Room Bot, Automating Operating Room Logistics through Mobile Manipulation
Jinkai Qiu, Yungjun Kim, Gaurav Sethia +4
Efficiently delivering items to an ongoing surgery in a hospital operating room can be a matter of life or death. In modern hospital settings, delivery robots have successfully tra…
In-Vivo Skin 3-D Surface Reconstruction and Wrinkle Depth Estimation using Handheld High Resolution Tactile Sensing
Akhil Padmanabha, Arpit Agarwal, Catherine Li +10
Three-dimensional (3-D) skin surface reconstruction offers promise for objective and quantitative dermatological assessment, but no portable, high-resolution device exists that has…
RaC: Robot Learning for Long-Horizon Tasks by Scaling Recovery and Correction
Zheyuan Hu, Robyn Wu, Naveen Enock +4
Modern paradigms for robot imitation train expressive policy architectures on large amounts of human demonstration data. Yet performance on contact-rich, deformable-object, and lon…
CoRI: Communication of Robot Intent for Physical Human-Robot Interaction
Junxiang Wang, Emek Barış Küçüktabak, Rana Soltani Zarrin +1
Clear communication of robot intent fosters transparency and interpretability in physical human-robot interaction (pHRI), particularly during assistive tasks involving direct human…
Web2Grasp: Learning Functional Grasps from Web Images of Hand-Object Interactions
Hongyi Chen, Yunchao Yao, Yufei Ye +8
Functional grasping is essential for enabling dexterous multi-finger robot hands to manipulate objects effectively. Prior work largely focuses on power grasps, which only involve h…
DiSRT-In-Bed: Diffusion-Based Sim-to-Real Transfer Framework for In-Bed Human Mesh Recovery
Jing Gao, Ce Zheng, Laszlo A. Jeni +1
In-bed human mesh recovery can be crucial and enabling for several healthcare applications, including sleep pattern monitoring, rehabilitation support, and pressure ulcer preventio…