Jekyll2024-03-10T19:36:36+00:00/feed.xmlAbrar AnwarRobot-assisted Inside-mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control2024-03-01T00:00:00+00:002024-03-01T00:00:00+00:00/in-mouthWe design a system to feed people with disabilities in their mouth using real-time mouth perception and tactile-informed control.]]>Exploring Strategies for Efficient VLN Evaluation2023-10-06T00:00:00+00:002023-10-06T00:00:00+00:00/evalEvaluation in the real world is often time-consuming and expensive, so we propose a targeted contrast set-based evaluation strategy to efficiently evaluate the linguistic and visual capabilities of an end-to-end VLN policy.]]>Comparative Reasoning for Multi-View Language Grounding2023-07-01T00:00:00+00:002023-07-01T00:00:00+00:00/magicWe present the MAGiC model which selects an object referent based on language meant to distinguish between two similar objects by reasoning over both objects from multiple vantage points.]]>Human-Robot Commensality: Bite Timing Prediction for Robot-Assisted Feeding in Groups2022-07-07T00:00:00+00:002022-07-07T00:00:00+00:00/hrcomWe develop data-driven models to predict when a robot should feed during social dining scenarios.
We build a dataset of human-human commensality, develop novel models to learn social dynamics of when to feed, and conduct a human-robot commensality study.]]>Watch Where You’re Going! Gaze and Head Orientation as Predictors for Social Robot Navigation2021-05-01T00:00:00+00:002021-05-01T00:00:00+00:00/anticipatory_gazeWe leverage virtual reality to collect gaze and position data to create a predictive model and a mixed effects model to show gaze orientation precedes other features]]>Deep Reinforcement Learning for Optimal Refinement of Cross-Sectional Mesh Sequence Finite Elements2021-05-01T00:00:00+00:002021-05-01T00:00:00+00:00/thesisDeveloped the first deep reinforcement learning framework for mesh refinement and refined “good” quality surface reconstructions of cross-sectional contours using soft-actor critic]]>Evolving Spiking Circuit Motifs using Weight Agnostic Neural Networks.2020-11-01T00:00:00+00:002020-11-01T00:00:00+00:00/wannAn evolutionary, weight agnostic method is used to generate spiking neural networks used for classification, control, and various other tasks]]>BrainSLAM: Robust autonomous navigation in sensor-deprived contexts2019-05-01T00:00:00+00:002019-05-01T00:00:00+00:00/brainslamWe explore using brain-inspired approaches to navigation and localization in a noisy, data-sparse environment for a hypersonic glide vehicle. Rotation invariant feature representations are used to increase accuracy and reduce map storage]]>