6 papers
Demonstration-Based Robotic Feeding Using Dynamic Movement Primitives
Kenzhi Iskandar Wong, Kitti Thamrongaphichartkul, Sri Harsha Turlapati +10
This paper presents a demonstration-based robotic feeding framework that integrates human demonstration, Dynamic Movement Primitive-based motion planning, vision-based scene percep…
Clinical Concept Centers in LLMs
Aishik Nagar, Abhishek Vaidyanathan, Arun-Kumar Kaliya-Perumal +2
Large language models are increasingly used in clinical settings. However, research into the reliability and performance of these models has focused almost entirely on the language…
CLR-voyance: Reinforcing Open-Ended Reasoning for Inpatient Clinical Decision Support with Outcome-Aware Rubrics
Aishik Nagar, Arun-Kumar Kaliya-Perumal, Yu-Hsuan Han +5
Inpatient clinical reasoning is a sequential decision under partial observability: the clinician sees the admission so far and must choose the next action whose downstream conseque…
Estimation of Ground Reaction Forces from Kinematic Data during Locomotion
Gautami Golani, Dong Anh Khoa To, Ananda Sidarta +5
Ground reaction forces (GRFs) provide fundamental insight into human gait mechanics and are widely used to assess joint loading, limb symmetry, balance control, and motor function.…
Privacy-Preserving Generation of Clinical Narratives from Medical Terminologies
Yuping Wu, Viktor Schlegel, Warren Del-Pinto +11
In high-stakes domains such as healthcare, privacy concerns severely limit the use of real-world training data. Differentially private (DP) synthetic data offers a promising altern…
uMedSum: A Unified Framework for Advancing Medical Abstractive Summarization
Aishik Nagar, Yutong Liu, Andy T. Liu +6
Medical abstractive summarization faces the challenge of balancing faithfulness and informativeness. Current methods often sacrifice key information for faithfulness or introduce c…