8 papers
A Pivot-Based Kirigami Utensil for Hand-Held and Robot-Assisted Feeding
Keone Leao, Grace Brotherson, Iain Mischel +2
Eating is a daily challenge for over 60 million adults with essential tremors and other mobility limitations. For these users, traditional utensils like forks or spoons are difficu…
TransMASK: Masked State Representation through Learned Transformation
Sagar Parekh, Preston Culbertson, Dylan P. Losey
Humans train robots to complete tasks in one environment, and expect robots to perform those same tasks in new environments. As humans, we know which aspects of the environment (i.…
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…
Towards Balanced Behavior Cloning from Imbalanced Datasets
Sagar Parekh, Heramb Nemlekar, Dylan P. Losey
Robots should be able to learn complex behaviors from human demonstrations. In practice, these human-provided datasets are inevitably imbalanced: i.e., the human demonstrates some…
Safe and Transparent Robots for Human-in-the-Loop Meat Processing
Sagar Parekh, Casey Grothoff, Ryan Wright +2
Labor shortages have severely affected the meat processing sector. Automated technology has the potential to support the meat industry, assist workers, and enhance job quality. How…
A Unified Framework for Robots that Influence Humans over Long-Term Interaction
Shahabedin Sagheb, Sagar Parekh, Ravi Pandya +4
Robot actions influence the decisions of nearby humans. Here influence refers to intentional change: robots influence humans when they shift the human's behavior in a way that help…