5 papers
STEP: State-Aware Task Estimation and Planning with Multi-Modal LLMs for Human-Robot Collaboration
Maitrey Gramopadhye, Prakash Baskaran, Xiao Liu +2
Effective human-robot collaboration in industrial settings requires robots to understand human intentions and assist with task planning, reducing workload. Recent works have explor…
SUBTA: A Framework for Supported User-Guided Bimanual Teleoperation in Structured Assembly
Xiao Liu, Prakash Baskaran, Songpo Li +4
In human-robot collaboration, shared autonomy enhances human performance through precise, intuitive support. Effective robotic assistance requires accurately inferring human intent…
Enabling Stateful Behaviors for Diffusion-based Policy Learning
Xiao Liu, Fabian Weigend, Yifan Zhou +1
While imitation learning provides a simple and effective framework for policy learning, acquiring consistent actions during robot execution remains a challenging task. Existing app…
iRoCo: Intuitive Robot Control From Anywhere Using a Smartwatch
Fabian C Weigend, Xiao Liu, Shubham Sonawani +3
This paper introduces iRoCo (intuitive Robot Control) - a framework for ubiquitous human-robot collaboration using a single smartwatch and smartphone. By integrating probabilistic…
Multimodal Learning of Soft Robot Dynamics using Differentiable Filters
Xiao Liu, Yifan Zhou, Shuhei Ikemoto +1
Differentiable Filters, as recursive Bayesian estimators, possess the ability to learn complex dynamics by deriving state transition and measurement models exclusively from data. T…