Robust in-hand manipulation of objects with movable content requires estimation and prediction of the contents' motion with enough anticipation to allow time to compensate for resulting internal torques. The quick estimation of the objects' dynamics can be ...
As assistive and collaborative robots become more ubiquitous in the real-world, we need to develop interfaces and controllers that are safe for users to build trust and encourage adoption. In this Blue Sky paper, we discuss the need for co-evolving task an ...
Intelligence involves processing sensory experiences into representations useful for prediction. Understanding sensory experiences and building these contextual representations without prior knowledge of sensor models and environment is a challenging unsup ...
Adaptive control for real-time manipulation requires quick estimation and prediction of object properties. While robot learning in this area primarily focuses on using vision, many tasks cannot rely on vision due to object occlusion. Here, we formulate a l ...
A critical need in assistive robotics, such as assistive wheelchairs for navigation, is a need to learn task intent and safety guarantees through user interactions in order to ensure safe task performance. For tasks where the objectives from the user are n ...
