279 citations · 590 across the 15 of their papers we have counts for
8 papers · 1 filter
Transforming a Quadruped into a Guide Robot for the Visually Impaired: Formalizing Wayfinding, Interaction Modeling, and Safety Mechanism
J. Taery Kim, Wenhao Yu, Yash Kothari +3
This paper explores the principles for transforming a quadrupedal robot into a guide robot for individuals with visual impairments. A guide robot has great potential to resolve the…
Robot Learning from Randomized Simulations: A Review
Fabio Muratore, Fabio Ramos, Greg Turk +3
The rise of deep learning has caused a paradigm shift in robotics research, favoring methods that require large amounts of data. Unfortunately, it is prohibitively expensive to gen…
Characterizing Multidimensional Capacitive Servoing for Physical Human-Robot Interaction
Zackory Erickson, Henry M. Clever, Vamsee Gangaram +4
Towards the goal of robots performing robust and intelligent physical interactions with people, it is crucial that robots are able to accurately sense the human body, follow trajec…
Multidimensional Capacitive Sensing for Robot-Assisted Dressing and Bathing
Zackory Erickson, Henry M. Clever, Vamsee Gangaram +3
Robotic assistance presents an opportunity to benefit the lives of many people with physical disabilities, yet accurately sensing the human body and tracking human motion remain di…
Sim-to-Real Transfer for Biped Locomotion
Wenhao Yu, Visak CV Kumar, Greg Turk +1
We present a new approach for transfer of dynamic robot control policies such as biped locomotion from simulation to real hardware. Key to our approach is to perform system identif…
Learning Human Behaviors for Robot-Assisted Dressing
Alexander Clegg, Wenhao Yu, Jie Tan +3
We investigate robotic assistants for dressing that can anticipate the motion of the person who is being helped. To this end, we use reinforcement learning to create models of huma…
Deep Haptic Model Predictive Control for Robot-Assisted Dressing
Zackory Erickson, Henry M. Clever, Greg Turk +2
Robot-assisted dressing offers an opportunity to benefit the lives of many people with disabilities, such as some older adults. However, robots currently lack common sense about th…
Multi-task Learning with Gradient Guided Policy Specialization
Wenhao Yu, C. Karen Liu, Greg Turk
We present a method for efficient learning of control policies for multiple related robotic motor skills. Our approach consists of two stages, joint training and specialization tra…