相关论文: Active Robot-Assisted Feeding with a General-Purpo…
Accurate assessment of dietary intake requires improved tools to overcome limitations of current methods including user burden and measurement error. Emerging technologies such as image-based approaches using advanced machine learning…
This work describes a new human-in-the-loop (HitL) assistive grasping system for individuals with varying levels of physical capabilities. We investigated the feasibility of using four potential input devices with our assistive grasping…
Assistance robots are the future for people who need daily care due to limited mobility or being wheelchair-bound. Current solutions of attaching robotic arms to motorized wheelchairs only provide limited additional mobility at the cost of…
Shared autonomy holds promise for improving the usability and accessibility of assistive robotic arms, but current methods often rely on costly expert demonstrations and remain static after pretraining, limiting their ability to handle…
The Smart Dietary Assistant utilizes Machine Learning to provide personalized dietary advice, focusing on users with conditions like diabetes. This app leverages the Grounding DINO model, which combines a text encoder and image backbone to…
The vast majority of visual animals actively control their eyes, heads, and/or bodies to direct their gaze toward different parts of their environment. In contrast, recent applications of reinforcement learning in robotic manipulation…
Background: People's health depends on the use of proper diet as an important factor. Today, with the increasing mechanization of people's lives, proper eating habits and behaviors are neglected. On the other hand, food recommendations in…
Simultaneous locomotion and manipulation enables robots to interact with their environment beyond the constraints of a fixed base. However, coordinating legged locomotion with arm manipulation, while considering safety and compliance during…
To support humans in their daily lives, robots are required to autonomously learn, adapt to objects and environments, and perform the appropriate actions. We tackled on the task of cooking scrambled eggs using real ingredients, in which the…
Grasping has long been considered an important and practical task in robotic manipulation. Yet achieving robust and efficient grasps of diverse objects is challenging, since it involves gripper design, perception, control and learning, etc.…
We present a fully autonomous real-world RL framework for mobile manipulation that can learn policies without extensive instrumentation or human supervision. This is enabled by 1) task-relevant autonomy, which guides exploration towards…
When humans face problems beyond their immediate capabilities, they rely on tools, providing a promising paradigm for improving visual reasoning in multimodal large language models (MLLMs). Effective reasoning, therefore, hinges on knowing…
The diagnosis of Autism Spectrum Disorder (ASD) in children is commonly accompanied by a diagnosis of sensory processing disorders as well. Abnormalities are usually reported in multiple sensory processing domains, showing a higher…
The hand is one of the most complex and important parts of the human body. The dexterity provided by its multiple degrees of freedom enables us to perform many of the tasks of daily living which involve grasping and manipulating objects of…
Older adults with mild cognitive impairment (MCI) often face challenges during meal preparation, such as forgetting ingredients, skipping steps, or leaving appliances on, which can compromise their safety and independence. Our study…
Manipulating Deformable Linear Objects (DLOs) is challenging in robotics due to their infinite-dimensional configuration space and complex nonlinear dynamics. In teleoperation, depth uncertainty hinders state perception and reaction.…
Robot-assisted feeding requires reliable bite acquisition, a challenging task due to the complex interactions between utensils and food with diverse physical properties. These interactions are further complicated by the temporal variability…
Wearable AI systems aim to provide timely assistance in daily life, but existing approaches often rely on user initiation or predefined task knowledge, neglecting users' current mental states. We introduce ProMemAssist, a smart glasses…
The robotic intervention for individuals with Autism Spectrum Disorder (ASD) has generally used pre-defined scripts to deliver verbal content during one-to-one therapy sessions. This practice restricts the use of robots to limited,…
Accurate estimation of meal macronutrient composition is a pre-perquisite for precision nutrition, metabolic health monitoring, and glycemic management. Traditional dietary assessment methods, such as self-reported food logs or diet recalls…