Collaborative Research NRI: INT: Scalable, Customizable, Robot Learning with Humans
合作研究 NRI:INT:可扩展、可定制、机器人与人类一起学习
基本信息
- 批准号:2024444
- 负责人:
- 金额:$ 34.9万
- 依托单位:
- 依托单位国家:美国
- 项目类别:Standard Grant
- 财政年份:2020
- 资助国家:美国
- 起止时间:2020-10-01 至 2024-09-30
- 项目状态:已结题
- 来源:
- 关键词:
项目摘要
Activities of daily living (ADLs) are both essential and routine aspects of self-care, including the ability to independently eat, dress, transfer from one position to another, bathe, and toilet. Robotic assistance with activities of daily living could increase the independence of people with disabilities, improve quality of life, and help address pressing societal needs, such as aging populations, high healthcare costs, and shortages of healthcare workers. While progress has been made towards such robotic-assistance, a key challenge is that many activities of daily living require robots to manipulate fabric in coordination with people. Notably, many forms of bedside assistance include dexterous manipulation of bedding, hygiene often involves dexterous manipulation of washcloths and towels, and dressing involves a diverse array of clothes. This project seeks to make foundational progress on this major challenge through advancements in machine learning, simulation, and customizable human-robot interaction. This project will result in new capabilities in robot-assisted bedding adjustment, bathing, and dressing for people with disabilities. In addition, this project and its participating research groups will broaden participation by engaging under-represented groups, K-12 students, and undergraduates in research and education.This research aims to develop a co-robotic framework towards the Integrative Task: Customizable Fabric Manipulation for Home Assistance, with specific emphasis on bedding, bathing, and dressing, which have significant physical interaction between the human and the robot. This project will make foundational progress along three main thrusts, brought together under this overarching integrative application: (1) Learning to Assist from Raw Sensory Observations, (2) Physics Simulation for Learning Assistance, and (3) Customizable Robotic Assistance with Human-in-the-Loop Feedback. Customizability here refers to the ability of our system to adapt to the specific preferences and abilities of each individual. Through open-sourced code development and physics simulations, this project also seeks to lower the barrier to entry for others to work towards the general problem of customizable home assistance. Overall, this research will develop new techniques in robot-assisted dressing, bedding adjustment, and body bathing (hygiene) for people with disabilities, which has the potential to help millions of people achieve greater independence and a higher quality of life.This award reflects NSF's statutory mission and has been deemed worthy of support through evaluation using the Foundation's intellectual merit and broader impacts review criteria.
日常生活活动(ADL)是自我护理的基本和常规方面,包括独立吃饭、穿衣、从一个位置转移到另一个位置、洗澡和上厕所的能力。机器人协助日常生活活动可以提高残疾人的独立性,提高生活质量,并帮助解决紧迫的社会需求,例如人口老龄化、高昂的医疗费用和医护人员短缺。虽然这种机器人辅助已经取得了进展,但一个关键的挑战是,许多日常生活活动都需要机器人与人类协调操纵织物。值得注意的是,许多形式的床边协助包括灵巧地操作床上用品,卫生通常涉及灵巧地操作毛巾和毛巾,穿衣涉及各种衣服。该项目旨在通过机器学习、模拟和可定制的人机交互方面的进步,在应对这一重大挑战方面取得基础性进展。该项目将为残疾人带来机器人辅助床上用品调整、洗澡和穿衣的新功能。此外,该项目及其参与的研究小组将通过让代表性不足的群体、K-12学生和本科生参与研究和教育来扩大参与范围。本研究旨在开发一个协作机器人框架,以实现综合任务:用于家庭援助的可定制织物操作,特别强调床上用品、沐浴和穿衣,这些在人类和机器人之间有重要的物理互动。该项目将沿着三个主要方向取得基础性进展,这些方向汇集在这一总体综合应用中:(1)从原始感官观察中学习辅助,(2)学习辅助的物理模拟,以及(3)具有人在环反馈的可定制机器人辅助。这里的可定制性是指我们的系统适应每个人的特定偏好和能力的能力。通过开源代码开发和物理模拟,该项目还寻求降低其他人解决可定制家庭援助的普遍问题的进入门槛。总体而言,这项研究将开发机器人辅助残疾人穿衣、床上用品调整和沐浴(卫生)方面的新技术,这有可能帮助数百万人获得更大的独立性和更高的生活质量。该奖项反映了 NSF 的法定使命,并通过使用基金会的智力价值和更广泛的影响审查标准进行评估,被认为值得支持。
项目成果
期刊论文数量(1)
专著数量(0)
科研奖励数量(0)
会议论文数量(0)
专利数量(0)
Bodies Uncovered: Learning to Manipulate Real Blankets Around People via Physics Simulations
揭开尸体:学习通过物理模拟操纵人们周围的真实毯子
- DOI:10.1109/lra.2022.3142732
- 发表时间:2022
- 期刊:
- 影响因子:5.2
- 作者:Puthuveetil, Kavya;Kemp, Charles C.;Erickson, Zackory
- 通讯作者:Erickson, Zackory
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James Hays其他文献
Bootstrapping Fine-Grained Classifiers : Active Learning with a Crowd in the Loop
引导细粒度分类器:群体参与的主动学习
- DOI:
- 发表时间:
2013 - 期刊:
- 影响因子:0
- 作者:
Genevieve Patterson;Grant Van Horn;Serge J. Belongie;P. Perona;James Hays - 通讯作者:
James Hays
Tropel: Crowdsourcing Detectors with Minimal Training
Tropel:只需最少培训的众包探测器
- DOI:
- 发表时间:
2015 - 期刊:
- 影响因子:0
- 作者:
Genevieve Patterson;Grant Van Horn;Serge J. Belongie;P. Perona;James Hays - 通讯作者:
James Hays
Granular Privacy Control for Geolocation with Vision Language Models
使用视觉语言模型进行地理定位的精细隐私控制
- DOI:
- 发表时间:
2024 - 期刊:
- 影响因子:0
- 作者:
Ethan Mendes;Yang Chen;James Hays;Sauvik Das;Wei Xu;Alan Ritter - 通讯作者:
Alan Ritter
Proceedings of the Workshop on 3D Geometry Generation for Scientific Computing
科学计算 3D 几何生成研讨会论文集
- DOI:
10.1109/wacvw60836.2024.00088 - 发表时间:
2024 - 期刊:
- 影响因子:0
- 作者:
Marissa Ramirez de Chanlatte;Phillip Colella;Trevor Darrell;Alexandra Katherine Carlson;Peter H. N. de With;Huayu Deng;Shanyan Guan;James Hays;Tim Houben;Thomas Huisman;Nikita Jaipuria;Hans Johansen;Shuja Khalid;Akshay Krishnan;Chuming Li;M. Pisarenco;Amit Raj;Frank Rudzicz;Tim J. Schoonbeek;Sandhya Sridhar;Nathan Tseng;F. V. D. Sommen;Chen Wang;Yunbo Wang;Tong Wu;Xiaokang Yang;Jiawei Yao;Derek Young;Xianling Zhang - 通讯作者:
Xianling Zhang
I. “Case Study: Novel Approach to HIV-Associated Neuropathy – Platelet Rich Plasma Successful in Treating HIV-Associated Peripheral Neuropathy”,
I.“案例研究:治疗 HIV 相关神经病变的新方法——富含血小板血浆成功治疗 HIV 相关周围神经病变”,
- DOI:
- 发表时间:
2016 - 期刊:
- 影响因子:0
- 作者:
James Hays;J. O. Simmonds;W. Jordan;N. Lucas - 通讯作者:
N. Lucas
James Hays的其他文献
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{{ truncateString('James Hays', 18)}}的其他基金
RI: Medium: Collaborative Research: Text-to-Image Reference Resolution for Image Understanding and Manipulation
RI:媒介:协作研究:用于图像理解和操作的文本到图像参考分辨率
- 批准号:
1561968 - 财政年份:2016
- 资助金额:
$ 34.9万 - 项目类别:
Continuing Grant
CAREER: Representing, Understanding, and Enhancing Scenes at the Internet-Scale
职业:在互联网规模上呈现、理解和增强场景
- 批准号:
1641340 - 财政年份:2016
- 资助金额:
$ 34.9万 - 项目类别:
Continuing Grant
CVPR 2012 Conference Doctoral Consortium
CVPR 2012会议博士联盟
- 批准号:
1242042 - 财政年份:2012
- 资助金额:
$ 34.9万 - 项目类别:
Standard Grant
CAREER: Representing, Understanding, and Enhancing Scenes at the Internet-Scale
职业:在互联网规模上呈现、理解和增强场景
- 批准号:
1149853 - 财政年份:2012
- 资助金额:
$ 34.9万 - 项目类别:
Continuing Grant
The LDEO Deep-Sea Repository and the Curating and Maintenance of the Sediment Library & Dredge Collection
LDEO 深海存储库以及沉积物库的管理和维护
- 批准号:
0647574 - 财政年份:2007
- 资助金额:
$ 34.9万 - 项目类别:
Standard Grant
The LDEO Deep-Sea Repository and the Curating and Maintenance of the Sediment Library and Dredge Collection
LDEO 深海储存库以及沉积物库和挖泥船收藏的管理和维护
- 批准号:
0350504 - 财政年份:2004
- 资助金额:
$ 34.9万 - 项目类别:
Continuing Grant
Collaborative Research: High Norther Latitude Amplifiers of Centennial to Millennial Climate Forcing During the Holocene
合作研究:全新世百年至千年气候强迫的北高纬度放大器
- 批准号:
0317934 - 财政年份:2003
- 资助金额:
$ 34.9万 - 项目类别:
Standard Grant
Investigating Iceberg Calving from Antarctic Ice Sheets Through Isotope Stage 11
通过同位素第 11 阶段研究南极冰盖的冰山崩解
- 批准号:
9615060 - 财政年份:1997
- 资助金额:
$ 34.9万 - 项目类别:
Continuing Grant
A New Approach to Earth and Environmental Science Undergraduate Instruction
地球与环境科学本科教学的新方法
- 批准号:
9455688 - 财政年份:1995
- 资助金额:
$ 34.9万 - 项目类别:
Standard Grant
Research Experiences for Undergraduates
本科生的研究经历
- 批准号:
8804910 - 财政年份:1988
- 资助金额:
$ 34.9万 - 项目类别:
Standard Grant
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- 批准号:10774081
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