5 papers
HITL-D: Human In The Loop Diffusion Assisted Shared Control
Riley Zilka, Sergey Khlynovskiy, Allie Wang +1
Autonomous manipulation systems have achieved remarkable capabilities, yet the integration of human expertise with diffusion-based policies in shared control remains relatively une…
Point and Go: Intuitive Reference Frame Reallocation in Mode Switching for Assistive Robotics
A. Wang, C. Jiang, M. Przystupa +2
Operating high degree of freedom robots can be difficult for users of wheelchair mounted robotic manipulators. Mode switching in Cartesian space has several drawbacks such as unint…
Interpreting Behaviors and Geometric Constraints as Knowledge Graphs for Robot Manipulation Control
Chen Jiang, Allie Wang, Martin Jagersand
In this paper, we investigate the feasibility of using knowledge graphs to interpret actions and behaviors for robot manipulation control. Equipped with an uncalibrated visual serv…
Efficient Morphology-Aware Policy Transfer to New Embodiments
Michael Przystupa, Hongyao Tang, Martin Jagersand +4
Morphology-aware policy learning is a means of enhancing policy sample efficiency by aggregating data from multiple agents. These types of policies have previously been shown to he…
Immersive Human-in-the-Loop Control: Real-Time 3D Surface Meshing and Physics Simulation
Sait Akturk, Justin Valentine, Junaid Ahmad +1
This paper introduces the TactiMesh Teleoperator Interface (TTI), a novel predictive visual and haptic system designed explicitly for human-in-the-loop robot control using a head-m…