23 papers
Belief-Aware Influence and Trust (BAIT): Shaping Human Belief During Repeated Human-Robot Interaction
Ye-Ji Mun, Mahsa Golchoubian, Shahabedin Sagheb +4
Repeated human-robot interaction (HRI) requires proactively accounting for humans who continually adapt to evolving beliefs about the robot. Prior frameworks often treat encounters…
From Local Corrections to Generalized Skills: Improving Neuro-Symbolic Policies with MEMO
Benjamin A. Christie, Yinlong Dai, Mohammad Bararjanianbahnamiri +2
Recent works use a neuro-symbolic framework for general manipulation policies. The advantage of this framework is that -- by applying off-the-shelf vision and language models -- th…
VOLT: Vision and Language Trajectory Segmentation for Faster-than-Demonstration Policies
Robert Ramirez Sanchez, Daniel J. Evans, Dylan P. Losey +1
Humans often take longer to demonstrate a task than a robot would need to execute it. Rather than learning to replicate the demonstration at the same pace, many industrial and prac…
Language Movement Primitives: Grounding Language Models in Robot Motion
Yinlong Dai, Benjamin A. Christie, Daniel J. Evans +2
Enabling robots to perform novel manipulation tasks from natural language instructions remains a fundamental challenge in robotics, despite significant progress in generalized prob…
Safe Interactions via Monte Carlo Linear-Quadratic Games
Benjamin A. Christie, Dylan P. Losey
Safety is critical during human-robot interaction. But -- because people are inherently unpredictable -- it is often difficult for robots to plan safe behaviors. Instead of relying…
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…