91 citations · 226 across the 28 of their papers we have counts for
27 papers · 1 filter
Safety Assurances for Human-Robot Interaction via Confidence-aware Game-theoretic Human Models
Ran Tian, Liting Sun, Andrea Bajcsy +2
An outstanding challenge with safety methods for human-robot interaction is reducing their conservatism while maintaining robustness to variations in human behavior. In this work,…
Physical Interaction as Communication: Learning Robot Objectives Online from Human Corrections
Dylan P. Losey, Andrea Bajcsy, Marcia K. O'Malley +1
When a robot performs a task next to a human, physical interaction is inevitable: the human might push, pull, twist, or guide the robot. The state-of-the-art treats these interacti…
Situational Confidence Assistance for Lifelong Shared Autonomy
Matthew Zurek, Andreea Bobu, Daniel S. Brown +1
Shared autonomy enables robots to infer user intent and assist in accomplishing it. But when the user wants to do a new task that the robot does not know about, shared autonomy wil…
Optimal Cost Design for Model Predictive Control
Avik Jain, Lawrence Chan, Daniel S. Brown +1
Many robotics domains use some form of nonconvex model predictive control (MPC) for planning, which sets a reduced time horizon, performs trajectory optimization, and replans at ev…
Analyzing Human Models that Adapt Online
Andrea Bajcsy, Anand Siththaranjan, Claire J. Tomlin +1
Predictive human models often need to adapt their parameters online from human data. This raises previously ignored safety-related questions for robots relying on these models such…
Feature Expansive Reward Learning: Rethinking Human Input
Andreea Bobu, Marius Wiggert, Claire Tomlin +1
When a person is not satisfied with how a robot performs a task, they can intervene to correct it. Reward learning methods enable the robot to adapt its reward function online base…