3 papers
cs.RO2025
GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings
Ziang Liu, Yuanchen Ju, Yu Da +6
Robot caregiving should be personalized to meet the diverse needs of care recipients -- assisting with tasks as needed, while taking user agency in action into account. In physical…
cs.RO2025
CART-MPC: Coordinating Assistive Devices for Robot-Assisted Transferring with Multi-Agent Model Predictive Control
Ruolin Ye, Shuaixing Chen, Yunting Yan +6
Bed-to-wheelchair transferring is a ubiquitous activity of daily living (ADL), but especially challenging for caregiving robots with limited payloads. We develop a novel algorithm…
cs.RO2024
Anticipatory Task and Motion Planning
Roshan Dhakal, Duc M. Nguyen, Tom Silver +2
We consider a sequential task and motion planning (tamp) setting in which a robot is assigned continuous-space rearrangement-style tasks one-at-a-time in an environment that persis…