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Bibliographic Details
Main Authors:	Jenamani, Rajat Kumar, Sundaresan, Priya, Sakr, Maram, Bhattacharjee, Tapomayukh, Sadigh, Dorsa
Format:	Preprint
Published:	2024
Subjects:	Robotics Artificial Intelligence
Online Access:	https://arxiv.org/abs/2407.07561
Tags:	Add Tag No Tags, Be the first to tag this record!

What's the Move? Hybrid Imitation Learning via Salient Points
by: Sundaresan, Priya, et al.
Published: (2024)

FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization
by: Jenamani, Rajat Kumar, et al.
Published: (2025)

To Ask or Not To Ask: Human-in-the-loop Contextual Bandits with Applications in Robot-Assisted Feeding
by: Banerjee, Rohan, et al.
Published: (2024)

Kiri-Spoon: A Kirigami Utensil for Robot-Assisted Feeding
by: Keely, Maya, et al.
Published: (2025)

Coloring Between the Lines: Personalization in the Null Space of Planning Constraints
by: Silver, Tom, et al.
Published: (2025)

Efficiently Generating Expressive Quadruped Behaviors via Language-Guided Preference Learning
by: Clark, Jaden, et al.
Published: (2025)

Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control
by: Jenamani, Rajat Kumar, et al.
Published: (2024)

Batch Active Learning of Reward Functions from Human Preferences
by: Bıyık, Erdem, et al.
Published: (2024)

Action-Free Reasoning for Policy Generalization
by: Clark, Jaden, et al.
Published: (2025)

Latent Diffusion Planning for Imitation Learning
by: Xie, Amber, et al.
Published: (2025)

Data Retrieval with Importance Weights for Few-Shot Imitation Learning
by: Xie, Amber, et al.
Published: (2025)

What Matters for Batch Online Reinforcement Learning in Robotics?
by: Dong, Perry, et al.
Published: (2025)

Efficient Data Collection for Robotic Manipulation via Compositional Generalization
by: Gao, Jensen, et al.
Published: (2024)

Invariance Co-training for Robot Visual Generalization
by: Yang, Jonathan, et al.
Published: (2025)

EXPO-FT: Sample-Efficient Reinforcement Learning Finetuning for Vision-Language-Action Models
by: Dong, Perry, et al.
Published: (2026)

Altruistic Maneuver Planning for Cooperative Autonomous Vehicles Using Multi-agent Advantage Actor-Critic
by: Toghi, Behrad, et al.
Published: (2021)

MotIF: Motion Instruction Fine-tuning
by: Hwang, Minyoung, et al.
Published: (2024)

Toward Grounded Commonsense Reasoning
by: Kwon, Minae, et al.
Published: (2023)

So You Think You Can Scale Up Autonomous Robot Data Collection?
by: Mirchandani, Suvir, et al.
Published: (2024)

Robot-Powered Data Flywheels: Deploying Robots in the Wild for Continual Data Collection and Foundation Model Adaptation
by: Grannen, Jennifer, et al.
Published: (2025)

A Taxonomy for Evaluating Generalist Robot Manipulation Policies
by: Gao, Jensen, et al.
Published: (2025)

ProVox: Personalization and Proactive Planning for Situated Human-Robot Collaboration
by: Grannen, Jennifer, et al.
Published: (2025)

WAFFLE: A Wearable Approach to Bite Timing Estimation in Robot-Assisted Feeding
by: Padmanabha, Akhil, et al.
Published: (2025)

Distilling and Retrieving Generalizable Knowledge for Robot Manipulation via Language Corrections
by: Zha, Lihan, et al.
Published: (2023)

RT-H: Action Hierarchies Using Language
by: Belkhale, Suneel, et al.
Published: (2024)

Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration
by: Grannen, Jennifer, et al.
Published: (2024)

An Adaptable, Safe, and Portable Robot-Assisted Feeding System
by: Gordon, Ethan Kroll, et al.
Published: (2024)

Bootstrapping Imitation Learning for Long-horizon Manipulation via Hierarchical Data Collection Space
by: Yang, Jinrong, et al.
Published: (2025)

Explore until Confident: Efficient Exploration for Embodied Question Answering
by: Ren, Allen Z., et al.
Published: (2024)

Physically Grounded Vision-Language Models for Robotic Manipulation
by: Gao, Jensen, et al.
Published: (2023)

ATLAS: An Annotation Tool for Long-horizon Robotic Action Segmentation
by: Stanovcic, Sergej, et al.
Published: (2026)

Shared Autonomy for Proximal Teaching
by: Srivastava, Megha, et al.
Published: (2025)

Long-horizon Embodied Planning with Implicit Logical Inference and Hallucination Mitigation
by: Liu, Siyuan, et al.
Published: (2024)

HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control
by: Sundaresan, Priya, et al.
Published: (2025)

GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings
by: Liu, Ziang, et al.
Published: (2025)

PrioriTouch: Adapting to User Contact Preferences for Whole-Arm Physical Human-Robot Interaction
by: Madan, Rishabh, et al.
Published: (2025)

HandelBot: Real-World Piano Playing via Fast Adaptation of Dexterous Robot Policies
by: Xie, Amber, et al.
Published: (2026)

Aerial World Model for Long-horizon Visual Generation and Navigation in 3D Space
by: Zhang, Weichen, et al.
Published: (2025)

LodeStar: Long-horizon Dexterity via Synthetic Data Augmentation from Human Demonstrations
by: Wan, Weikang, et al.
Published: (2025)

if (filemtime($filename) + $maxlifetime < time()) { unlink($filename); $count++; } } return $count; } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ protected function saveSession($sessId, $data): bool { $sessFile = $this->path . '/sess_' . $sessId; if ($handle = fopen($sessFile, 'w')) { $return = false; // Lock the file for exclusive access to avoid issues with multiple // processes writing session simultaneously: if (flock($handle, LOCK_EX)) { $return = fwrite($handle, $data); // Make sure that there's no trailing data by truncating the file to // the correct length: ftruncate($handle, strlen($data)); fflush($handle); flock($handle, LOCK_UN); } fclose($handle); if ($return !== false) { return true; } } // If we got this far, something went wrong with the file output... // It is tempting to throw an exception here, but this code is called // outside of the context of exception handling, so all we can do is // echo a message.

// Anecdotal testing Today and Yesterday seems to indicate destroy() // is called by the garbage collector and everything is good. // Something to keep in mind though. return 0; } /** * Write function that is called when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ public function write($sessId, $data): bool { if ($this->writesDisabled) { return true; } return $this->saveSession($sessId, $data); } /** * A function that is called internally when session data is to be saved. * * @param string $sessId The current session ID * @param string $data The session data to write * * @return bool */ abstract protected function saveSession($sessId, $data): bool; }

* * @return void */ public function writeClose() { // The assumption is that we're using PHP's ext/session. // session_write_close() will actually overwrite $_SESSION with an // empty array on completion -- which leads to a mismatch between what // is in the storage object and $_SESSION. To get around this, we // temporarily reset $_SESSION to an array, and then re-link it to // the storage object. // // Additionally, while you _can_ write to $_SESSION following a // session_write_close() operation, no changes made to it will be // flushed to the session handler. As such, we now mark the storage // object isImmutable. $storage = $this->getStorage(); if (! $storage->isImmutable()) { $_SESSION = $storage->toArray(true); session_write_close(); $storage->fromArray($_SESSION); $storage->markImmutable(); } } /** * Attempt to set the session name * * If the session has already been started, or if the name provided fails * validation, an exception will be raised. * * @param string $name * @return SessionManager * @throws Exception\InvalidArgumentException */ public function setName($name) { if ($this->sessionExists()) { throw new Exception\InvalidArgumentException( 'Cannot set session name after a session has already started'

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