10 papers · 1 filter
Adapting by Analogy: OOD Generalization of Visuomotor Policies via Functional Correspondence
Pranay Gupta, Henny Admoni, Andrea Bajcsy
End-to-end visuomotor policies trained using behavior cloning have shown a remarkable ability to generate complex, multi-modal low-level robot behaviors. However, at deployment tim…
Conformalized Interactive Imitation Learning: Handling Expert Shift and Intermittent Feedback
Michelle Zhao, Reid Simmons, Henny Admoni +2
In interactive imitation learning (IL), uncertainty quantification offers a way for the learner (i.e. robot) to contend with distribution shifts encountered during deployment by ac…
Bi-Directional Mental Model Reconciliation for Human-Robot Interaction with Large Language Models
Nina Moorman, Michelle Zhao, Matthew B. Luebbers +5
In human-robot interactions, human and robot agents maintain internal mental models of their environment, their shared task, and each other. The accuracy of these representations d…
The Sense of Agency in Assistive Robotics Using Shared Autonomy
Maggie A. Collier, Rithika Narayan, Henny Admoni
Sense of agency is one factor that influences people's preferences for robot assistance and a phenomenon from cognitive science that represents the experience of control over one's…
Towards an LLM-Based Speech Interface for Robot-Assisted Feeding
Jessie Yuan, Janavi Gupta, Akhil Padmanabha +4
Physically assistive robots present an opportunity to significantly increase the well-being and independence of individuals with motor impairments or other forms of disability who…
Object Importance Estimation using Counterfactual Reasoning for Intelligent Driving
Pranay Gupta, Abhijat Biswas, Henny Admoni +1
The ability to identify important objects in a complex and dynamic driving environment is essential for autonomous driving agents to make safe and efficient driving decisions. It a…