1 citations · 5 across the 8 of their papers we have counts for
7 papers · 1 filter
L2D2: Robot Learning from 2D Drawings
Shaunak A. Mehta, Heramb Nemlekar, Hari Sumant +1
Robots should learn new tasks from humans. But how do humans convey what they want the robot to do? Existing methods largely rely on humans physically guiding the robot arm through…
Stable-BC: Controlling Covariate Shift with Stable Behavior Cloning
Shaunak A. Mehta, Yusuf Umut Ciftci, Balamurugan Ramachandran +2
Behavior cloning is a common imitation learning paradigm. Under behavior cloning the robot collects expert demonstrations, and then trains a policy to match the actions taken by th…
Combining and Decoupling Rigid and Soft Grippers to Enhance Robotic Manipulation
Maya Keely, Yeunhee Kim, Shaunak A. Mehta +6
For robot arms to perform everyday tasks in unstructured environments, these robots must be able to manipulate a diverse range of objects. Today's robots often grasp objects with e…
Waypoint-Based Reinforcement Learning for Robot Manipulation Tasks
Shaunak A. Mehta, Soheil Habibian, Dylan P. Losey
Robot arms should be able to learn new tasks. One framework here is reinforcement learning, where the robot is given a reward function that encodes the task, and the robot autonomo…
Aligning Learning with Communication in Shared Autonomy
Joshua Hoegerman, Shahabedin Sagheb, Benjamin A. Christie +1
Assistive robot arms can help humans by partially automating their desired tasks. Consider an adult with motor impairments controlling an assistive robot arm to eat dinner. The rob…
Kiri-Spoon: A Soft Shape-Changing Utensil for Robot-Assisted Feeding
Maya N. Keely, Heramb Nemlekar, Dylan P. Losey
Assistive robot arms have the potential to help disabled or elderly adults eat everyday meals without relying on a caregiver. To provide meaningful assistance, these robots must re…