Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding

Gordon, Ethan K.; Roychowdhury, Sumegh; Bhattacharjee, Tapomayukh; Jamieson, Kevin; Srinivasa, Siddhartha S.

doi:10.1109/icra48506.2021.9561520

Cited by 3 publications

(1 citation statement)

References 36 publications

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“…The result is a set of 11 discrete acquisition actions that features emergent behavior described qualitatively in previous work, such as in-food wiggling, as well as new effective behavior such as an extraction motion that tilts back so food falls onto the utensil. We utilize a contextual bandit framework augmented with haptic post hoc context [7], to achieve online adaptability. The robot will try different discrete actions with new food items and will figure out the best one over the course of 8-13 attempts.…”

Section: Bite Acquisitionmentioning

confidence: 99%

An Adaptable, Safe, and Portable Robot-Assisted Feeding System

Gordon,

Jenamani,

Nanavati

et al. 2024

Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

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We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to be mounted on and powered by any powered wheelchair, and a custom web-app allowing care-recipients to leverage their own assistive devices for robot control. For bite acquisition, we leverage multi-modal online learning to tractably adapt to unseen food types. For bite transfer, we leverage real-time mouth perception and interaction-aware control. Co-designed with community researchers, our system has been validated through multiple end-user studies. CCS CONCEPTS• Computer systems organization → Robotics; Robotic autonomy; • Human-centered computing → Accessibility systems and tools; Accessibility technologies.

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Section: Bite Acquisitionmentioning

confidence: 99%

An Adaptable, Safe, and Portable Robot-Assisted Feeding System

Gordon,

Jenamani,

Nanavati

et al. 2024

Companion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction

Self Cite

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Multimodal Based Automatic Feeding Robotic Device

Zhi

et al. 2022

2022 7th Asia-Pacific Conference on Intelligent Robot Systems (ACIRS)

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A Meal-Assistance Robot System for Asian Food and Its Food Acquisition Point Estimation and User Interface Based on Face Recognition

Choi

Song

et al. 2023

Applied Sciences

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Various meal-assistance robot (MAR) systems are being studied, and several products have already been commercialized to alleviate the imbalance between the rising demand and diminishing supply of meal care services. However, several challenges remain. First, most of these services can serve limited types of western food using a predefined route. Additionally, their spoon or fork sometimes makes it difficult to acquire Asian food that is easy to handle with chopsticks. In addition, their limited user interface, requiring physical contact, makes it difficult for people with severe disabilities to use MARs alone. This paper proposes an MAR system that is suitable for the diet of Asians who use chopsticks. This system uses Mask R-CNN to recognize the food area on the plate and estimates the acquisition points for each side dish. The points become target points for robot motion planning. Depending on which food the user selects, the robot uses chopsticks or a spoon to obtain the food. In addition, a non-contact user interface based on face recognition was developed for users with difficulty physically manipulating the interface. This interface can be operated on the user’s Android OS tablet without the need for a separate dedicated display. A series of experiments verified the proposed system’s effectiveness and feasibility.

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Leveraging Post Hoc Context for Faster Learning in Bandit Settings with Applications in Robot-Assisted Feeding

Cited by 3 publications

References 36 publications

An Adaptable, Safe, and Portable Robot-Assisted Feeding System

An Adaptable, Safe, and Portable Robot-Assisted Feeding System

Multimodal Based Automatic Feeding Robotic Device

A Meal-Assistance Robot System for Asian Food and Its Food Acquisition Point Estimation and User Interface Based on Face Recognition

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