4 papers
COOPERA: Continual Open-Ended Human-Robot Assistance
Chenyang Ma, Kai Lu, Ruta Desai +3
To understand and collaborate with humans, robots must account for individual human traits, habits, and activities over time. However, most robotic assistants lack these abilities,…
Enhancing Visual Planning with Auxiliary Tasks and Multi-token Prediction
Ce Zhang, Yale Song, Ruta Desai +4
Visual Planning for Assistance (VPA) aims to predict a sequence of user actions required to achieve a specified goal based on a video showing the user's progress. Although recent a…
ADAPT: Actively Discovering and Adapting to Preferences for any Task
Maithili Patel, Xavier Puig, Ruta Desai +4
Assistive agents should be able to perform under-specified long-horizon tasks while respecting user preferences. We introduce Actively Discovering and Adapting to Preferences for a…
Grounding Multimodal LLMs to Embodied Agents that Ask for Help with Reinforcement Learning
Ram Ramrakhya, Matthew Chang, Xavier Puig +3
Embodied agents operating in household environments must interpret ambiguous and under-specified human instructions. A capable household robot should recognize ambiguity and ask re…