MIT Museum Interactive Robot Exhibitions
(permanent exhibitions)
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1. Collaborate Safely and Efficiently with the Robot
Shen Li ,
Vaibhav Unhelkar ,
Julie A. Shah ,
Sarah Chung
Video ,
this exhibition is about human-robot collaboration and communication to prepare sandwiches and drinks for lunch, based on our previous work - HRI'20 .
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2. Teach the Robot the Task
Shen Li ,
Ankit Shah ,
Julie A. Shah ,
Sarah Chung
Video ,
this exhibition is about teaching the robot to set the kitchen table, based on our previous work - PUns (RAL'20) .
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3. Teach the Robot the Motions
Nadia Figueroa ,
Yanwei Wang ,
Julie A. Shah ,
Sarah Chung
Video ,
this exhibition is about teaching the robot to inspect widgets, based on our previous work - CoRL'22 .
Publications
Robust Control and Estimation for Safe Human-Robot Collaboration
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Set-based State Estimation with Probabilistic Consistency Guarantee under Epistemic Uncertainty
Shen Li* ,
Theodoros Stouraitis *,
Michael Gienger ,
Sethu Vijayakumar ,
Julie A. Shah
RAL 2022
PDF /
code (in preparation) /
video
/ MIT news
/ MIT Instagram
/ Voice Of America (from 12:07)
Set-based state estimation (1) with a probabilistic consistency guarantee , when dynamic and observation models are learned via GPs ; (2) that can be formally reduced to its probabilistic counterpart - GP-EKF;
robot-assisted dressing .
Provably Safe and Efficient Motion Planning with Uncertain Human Dynamics
Shen Li ,
Nadia Figueroa ,
Ankit Shah ,
Julie A. Shah
RSS 2021
Project page :
PDF /
code /
videos /
talk at RSS (5:04) /
slides /
poster
/ MIT CSAIL news
/ MIT Instagram
/ talk at MIT Horizon (30min, less technical)
/ featured in the Next Byte Podcast with the article
Human-aware motion planning with (1) a probabilistic guarantee on human physical safety, and (2) an improved task efficiency thanks to a two-pronged definition of safety: collision avoidance OR safe impact ;
robot-assisted dressing .
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Safe and Efficient High Dimensional Motion Planning in Space-Time with Time Parameterized Prediction
Shen Li ,
Julie A. Shah
ICRA 2019
PDF /
poster
Robot motion-planning for safe (via collision avoidance) and efficient (via planning in both space-time) human-robot collaboration.
Decision-Making for Human-Robot (Mutual) Adaptation
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Reactive Task and Motion Planning under Temporal Logic Specifications
Shen Li* ,
Daehyung Park* ,
Yoonchang Sung* ,
Julie A. Shah ,
Nicholas Roy
ICRA 2021
arXiv /
video (2:28) /
slides
Task-and-motion planning under robust against a human operator's cooperative or adversarial interventions .
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Decision-Making for Bidirectional Communication in Sequential Human-Robot Collaborative Tasks
Vaibhav Unhelkar* ,
Shen Li* ,
Julie A. Shah
HRI 2020 (23.6%)
PDF /
video (2:16) /
talk video (9:27) /
ZDNet news
Robot decision-making on if , when , and what to communicate during collaboration.
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Semi-Supervised Learning of Decision-Making Models for Human-Robot Collaboration
Vaibhav Unhelkar* ,
Shen Li* ,
Julie A. Shah
CoRL 2019, Oral Presentation (5%)
PDF /
video (4:16)
Semi-supervised human model learning => low efforts on parameter specification & high performance on robot collaborative decision-making.
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Fast Online Segmentation of Activities from Partial Trajectories
Tariq Iqbal ,
Shen Li ,
Christopher Fourie ,
Bradley Hayes ,
Julie A. Shah
ICRA 2019
PDF /
video (2:49) /
poster /
PBS NewsHour (from 2:58)
Fast online human activity recognition + robot assistance at the appropriate time.
Trust of Humans in Supervisory Control of Swarm Robots with Varied Levels of Autonomy
Changjoo Nam ,
Huao Li ,
Shen Li ,
Michael Lewis ,
Katia Sycara ,
SMC 2018
PDF /
project page
Trust and performance in supervisory control of swarm robots with varied levels of autonomy.
Learning Task Specifications from Human Demonstrations
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Temporal Logic Imitation: Learning Plan-Satisficing Motion Policies from Demonstrations
Yanwei Wang ,
Nadia Figueroa ,
Shen Li ,
Ankit Shah ,
Julie A. Shah
CoRL 2022, Oral Presentation (6.5%)
PDF /
project page
Imitation learning for continuous motion + discrete plan (as LTL formula).
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Planning With Uncertain Specifications (PUnS)
Ankit Shah ,
Shen Li ,
Julie A. Shah
RA-L & ICRA 2020
PDF /
video (2:11) /
MIT news
Robot decision-making under uncertain & non-Markovian task specifications.
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Supervised Bayesian Specification Inference from Demonstrations
Ankit Shah ,
Pritish Kamath ,
Shen Li ,
Patrick Craven,
Kevin Landers,
Kevin Oden,
Julie A. Shah
IJRR 2021 (accepted)
PDF
Robot learning non-Markovian task specifications from human demonstrations.
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Bayesian Inference of Temporal Task Specifications from Demonstrations
Ankit Shah ,
Pritish Kamath ,
Shen Li ,
Julie A. Shah
NeurIPS 2018
PDF /
project page /
video (3:05) /
poster
Robot learning non-Markovian task specifications from human demonstrations.
Interpretable Robot Behavior
Natural Language Instructions for Human-Robot Collaborative Manipulation
Rosario Scalise* ,
Shen Li* ,
Henny Admoni ,
Stephanie Rosenthal ,
Siddhartha Srinivasa
IJRR 2018
PDF /
project page
A dataset of natural language instructions for object specification in manipulation scenarios (1582 instructions from online crowdsourcing).
Evaluating Critical Points in Trajectories
Shen Li* ,
Rosario Scalise* ,
Henny Admoni ,
Stephanie Rosenthal ,
Siddhartha Srinivasa
RO-MAN 2017
PDF
Effectiveness of critical way-points in conveying info about robot objectives.
Spatial References and Perspective in Natural Language Instructions for Collaborative Manipulation
Shen Li* ,
Rosario Scalise* ,
Henny Admoni ,
Stephanie Rosenthal ,
Siddhartha Srinivasa
RO-MAN 2016
PDF /
slides /
CMU SEI blog
Correlations between clarity of spatial reference instructions and 1) perspective taking 2) spatial features.
Perspective in Natural Language Instructions for Collaborative Manipulation
Shen Li* ,
Rosario Scalise* ,
Henny Admoni ,
Stephanie Rosenthal ,
Siddhartha Srinivasa
R:SS Workshop on Model Learning for Human-Robot Communication 2016
PDF /
slides /
poster
Theses