3 citations · 6 across the 10 of their papers we have counts for
10 papers
Many-RRT*: Robust Joint-Space Trajectory Planning for Serial Manipulators
Theodore M. Belmont, Benjamin A. Christie, Anton Netchaev
The rapid advancement of high degree-of-freedom (DoF) serial manipulators necessitates the use of swift, sampling-based motion planners for high-dimensional spaces. While sampling-…
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…
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…
A Modular Haptic Display with Reconfigurable Signals for Personalized Information Transfer
Antonio Alvarez Valdivia, Benjamin A. Christie, Dylan P. Losey +1
We present a customizable soft haptic system that integrates modular hardware with an information-theoretic algorithm to personalize feedback for different users and tasks. Our pla…
Safe Interactions via Monte Carlo Linear-Quadratic Games
Benjamin A. Christie, Dylan P. Losey
Safety is critical during human-robot interaction. But -- because people are inherently unpredictable -- it is often difficult for robots to plan safe behaviors. Instead of relying…
Aligning Learning with Communication in Shared Autonomy
Joshua Hoegerman, Shahabedin Sagheb, Benjamin A. Christie +1
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The rob…
Personalizing Interfaces to Humans with User-Friendly Priors
Benjamin A. Christie, Heramb Nemlekar, Dylan P. Losey
Robots often need to convey information to human users. For example, robots can leverage visual, auditory, and haptic interfaces to display their intent or express their internal s…
LIMIT: Learning Interfaces to Maximize Information Transfer
Benjamin A. Christie, Dylan P. Losey
Robots can use auditory, visual, or haptic interfaces to convey information to human users. The way these interfaces select signals is typically pre-defined by the designer: for in…
Towards Robots that Influence Humans over Long-Term Interaction
Shahabedin Sagheb, Ye-Ji Mun, Neema Ahmadian +4
When humans interact with robots influence is inevitable. Consider an autonomous car driving near a human: the speed and steering of the autonomous car will affect how the human dr…