2026

CASTER: Formalizing zero-shot manipulation from synthetic videos as constrained optimization Yinlong Dai, Homanga Bharadhwaj, Dylan P. Losey Read Paper Project Website
Assisting for open-ended tasks: Goal-oriented shared autonomy as a particle filter Mengxue Fu, Ethan Xu, Sam Iyer-Singh, Yinlong Dai, Michael Hagenow, Dylan P. Losey Read Paper
GraspTwin: Zero-shot task-oriented grasp optimization via a digital twin Daniel J. Evans, Yinlong Dai, Simon Stepputtis, Dylan P. Losey Read Paper
Show and tell: Unifying physical demonstrations and language corrections for neuro-symbolic robots Benjamin A. Christie, Siddarth Jain, Dylan P. Losey Read Paper
PAIR: Proprioception-aligned image-ray representations for viewpoint-robust manipulation Sung-Wook Lee, Xuhui Kang, Dylan P. Losey, Yen-Ling Kuo Read Paper
In view or out of view? A vision-aware filter that infers and reacts to the human's field of view Mengxue Fu, Ya-Chuan Hsu, Yinlong Dai, Erdem Bıyık, Dylan P. Losey Read Paper
Belief-aware influence and trust (BAIT): Shaping human belief during repeated human-robot interaction Ye-Ji Mun, Mahsa Golchoubian, Shahabedin Sagheb, Yan Bai, Tianhao Ji, Andrea Bajcsy, Dylan P. Losey, Katherine Driggs-Campbell Read Paper
VOLT: Vision and language trajectory segmentation for faster-than-demonstration policies Robert Ramirez Sanchez, Daniel J. Evans, Dylan P. Losey, Siddarth Jain Read Paper
Safe interactions via Monte Carlo linear-quadratic games Benjamin A. Christie, Dylan P. Losey Read Paper
TransMASK: Masked state representation through learned transformation Sagar Parekh, Preston Culbertson, Dylan P. Losey Read Paper Project Website
From local corrections to generalized skills: Improving neuro-symbolic policies with MEMO Benjamin A. Christie, Yinlong Dai, Mohammad Bararjanianbahnamiri, Simon Stepputtis, Dylan P. Losey IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper Project Website
A pivot-based kirigami utensil for hand-held and robot-assisted feeding Keone Leao, Grace Brotherson, Iain Mischel, Sagar Parekh, Dylan P. Losey IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper
Curvature-aware calibration of tactile sensors for accurate force estimation on non-planar surfaces Luoyan Zhong, Heather Jin Hee Kim, Dylan P. Losey, Cara M. Nunez Haptics Symposium Read Paper
Fine-tuning robot policies while maintaining user privacy Benjamin A. Christie, Sagar Parekh, Dylan P. Losey Read Paper
Combining performance and passivity in linear control of series elastic actuators Shaunak A. Mehta, Dylan P. Losey Read Paper
Teleoperator-aware and safety-critical adaptive nonlinear MPC for shared autonomy in obstacle avoidance of legged robots Ruturaj Sambhus, Muneeb Ahmad, Basit Muhammad Imran, Sujith Vijayan, Dylan P. Losey, Kaveh Akbari Hamed Read Paper
Language movement primitives: Grounding language models in robot motion Yinlong Dai, Benjamin A. Christie, Daniel J. Evans, Dylan P. Losey, and Simon Stepputtis Read Paper Project Website
Shared control/autonomy in human-robot interaction: Current trends and the role of generative AI Michael Hagenow, Mario Selvaggio, Xuehui Yu, Yanwei Wang, Yiannis Demiris, Andreea Bobu, Yilun Du, Harold Soh, Dylan P. Losey, Julie Shah Read Paper

2025

Prepare before you act: Learning from humans to rearrange initial states Yinlong Dai, Andre Keyser, Dylan P. Losey IEEE International Conference on Robotics and Automation Read Paper
Towards robots that learn from humans Dylan P. Losey Read Paper
Towards balanced behavior cloning from imbalanced datasets Sagar Parekh, Heramb Nemlekar, Dylan P. Losey Autonomous Robots Read Paper Project Website
Safe and transparent robots for human-in-the-loop meat processing Sagar Parekh, Casey Grothoff, Ryan Wright, Robin White, Dylan P. Losey Read Paper
A modular haptic display with reconfigurable signals for personalized information transfer Antonio Alvarez Valdivia, Benjamin A. Christie, Dylan P. Losey, Laura H. Blumenschein IEEE Transactions on Haptics Read Paper
L2D2: Robot learning from 2D drawings Shaunak A. Mehta, Heramb Nemlekar, Hari Sumant, Dylan P. Losey Autonomous Robots Read Paper Project Website
Counterfactual behavior cloning: Offline imitation learning from imperfect human demonstrations Shahabedin Sagheb, Dylan P. Losey ACM Transactions on Human-Robot Interaction Read Paper
CIVIL: Causal and intuitive visual imitation learning Yinlong Dai, Robert Ramirez Sanchez, Ryan Jeronimus, Shahabedin Sagheb, Cara M. Nunez, Heramb Nemlekar, Dylan P. Losey Autonomous Robots Read Paper
A unified framework for robots that influence humans over long-term interaction Shahabedin Sagheb, Sagar Parekh, Ravi Pandya, Ye-Ji Mun, Katherine Driggs-Campbell, Andrea Bajcsy, Dylan P. Losey Read Paper
Kiri-Spoon: A kirigami utensil for robot-assisted feeding Maya Keely, Brandon Franco, Casey Grothoff, Rajat Kumar Jenamani, Tapomayukh Bhattacharjee, Dylan P. Losey, Heramb Nemlekar The International Journal of Robotics Research Read Paper
RECON: Reducing causal confusion with human-placed markers Robert Ramirez Sanchez, Heramb Nemlekar, Shahabedin Sagheb, Cara M. Nunez, Dylan P. Losey IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper
Using high-level patterns to estimate how humans predict a robot will behave Sagar Parekh, Lauren Bramblett, Nicola Bezzo, Dylan P. Losey IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper
Personalizing interfaces to humans with user-friendly priors Benjamin A. Christie, Heramb Nemlekar, Dylan P. Losey IEEE International Conference on Robotics and Automation (ICRA) Read Paper

2024

PECAN: Personalizing robot behaviors through a learned canonical space Heramb Nemlekar, Robert Ramirez Sanchez, Dylan P. Losey ACM Transactions on Human-Robot Interaction Read Paper
Should collaborative robots be transparent? Shahabedin Sagheb, Soham Gandhi, Dylan P. Losey International Journal of Social Robotics Read Paper
Stable-BC: Controlling covariate shift with stable behavior cloning Shaunak A. Mehta, Yusuf Umut Ciftci, Balamurugan Ramachandran, Somil Bansal, Dylan P. Losey IEEE Robotics and Automation Letters Read Paper Project Website
VIEW: Visual imitation learning with waypoints Ananth Jonnavittula, Sagar Parekh, Dylan P. Losey Autonomous Robots Read Paper Project Website
Combining and decoupling rigid and soft grippers to enhance robotic manipulation Maya Keely, Yeunhee Kim, Shaunak A. Mehta, Joshua Hoegerman, Robert Ramirez Sanchez, Emily Paul, Camryn Mills, Dylan P. Losey, Michael D. Bartlett Soft Robotics Read Paper
Kiri-Spoon: A soft shape-changing utensil for robot-assisted feeding Maya N. Keely, Heramb Nemlekar, Dylan P. Losey IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper
Waypoint-based reinforcement learning for robot manipulation tasks Shaunak A. Mehta, Soheil Habibian, Dylan P. Losey IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper Project Website
Aligning learning with communication in shared autonomy Joshua Hoegerman, Shahabedin Sagheb, Benjamin A. Christie, Dylan P. Losey IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper
A survey of communicating robot learning during human-robot interaction Soheil Habibian, Antonio Alvarez Valdivia, Laura H. Blumenschein, Dylan P. Losey The International Journal of Robotics Research Read Paper
LIMIT: Learning interfaces to maximize information transfer Benjamin A. Christie, Dylan P. Losey ACM Transactions on Human-Robot Interaction Read Paper
SARI: Shared autonomy across repeated interaction Ananth Jonnavittula, Shaunak A. Mehta, Dylan P. Losey ACM Transactions on Human-Robot Interaction Read Paper

2023

Safely and autonomously cutting meat with a collaborative robot arm Ryan Wright, Sagar Parekh, Robin White, Dylan P. Losey Scientific Reports Read Paper
StROL: Stabilized and robust online learning from humans Shaunak A. Mehta, Forrest Meng, Andrea Bajcsy, Dylan P. Losey IEEE Robotics and Automation Letters Read Paper
Reward learning with intractable normalizing functions Joshua Hoegerman, Dylan P. Losey IEEE Robotics and Automation Letters Read Paper
Coordinated multi-robot shared autonomy based on scheduling and demonstrations Michael Hagenow, Emmanuel Senft, Nitzan Orr, Robert Radwin, Michael Gleicher, Bilge Mutlu, Dylan P. Losey, Michael Zinn IEEE Robotics and Automation Letters Read Paper
Unified learning from demonstrations, corrections, and preferences during physical human-robot interaction Shaunak A. Mehta, Dylan P. Losey ACM Transactions on Human-Robot Interaction Read Paper
Learning latent representations to co-adapt to humans Sagar Parekh, Dylan P. Losey Autonomous Robots Read Paper
RISO: Combining rigid grippers with soft switchable adhesives Shaunak A. Mehta, Yeunhee Kim, Joshua Hoegerman, Michael D. Bartlett, Dylan P. Losey IEEE International Conference on Soft Robotics (RoboSoft) Read Paper
Towards robots that influence humans over long-term interaction Shahabedin Sagheb, Ye-Ji Mun, Neema Ahmadian, Benjamin A. Christie, Andrea Bajcsy, Katherine Driggs-Campbell, Dylan P. Losey IEEE International Conference on Robotics and Automation (ICRA) Read Paper
Wrapping haptic displays around robot arms to communicate learning Antonio Alvarez Valdivia, Soheil Habibian, Carly A. Mendenhall, Francesco Fuentes, Ritish Shailly, Dylan P. Losey, Laura H. Blumenschein IEEE Transactions on Haptics Read Paper

2022

Encouraging human interaction with robot teams: Legible and fair subtask allocations Soheil Habibian, Dylan P. Losey IEEE Robotics and Automation Letters Read Paper
RILI: Robustly influencing latent intent Sagar Parekh, Soheil Habibian, Dylan P. Losey IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper
Wrapped haptic display for communicating physical robot learning Antonio Alvarez Valdivia, Ritish Shailly, Naman Seth, Francesco Fuentes, Dylan P. Losey, Laura H. Blumenschein IEEE International Conference on Soft Robotics (RoboSoft) Read Paper
Learning latent actions without human demonstrations Shaunak A. Mehta, Sagar Parekh, Dylan P. Losey IEEE International Conference on Robotics and Automation (ICRA) Read Paper
Communicating robot conventions through shared autonomy Ananth Jonnavittula, Dylan P. Losey IEEE International Conference on Robotics and Automation (ICRA) Read Paper
Assisting operators of articulated machinery with optimal planning and goal inference Ehsan Yousefi, Dylan P. Losey, Inna Sharf IEEE International Conference on Robotics and Automation (ICRA) Read Paper
Here’s what I’ve learned: Asking questions that reveal reward learning Soheil Habibian, Ananth Jonnavittula, Dylan P. Losey ACM Transactions on Human-Robot Interaction Read Paper

2021

Communicating inferred goals with passive augmented reality and active haptic feedback James F. Mullen Jr, Josh Mosier, Sounak Chakrabarti, Anqi Chen, Tyler White, Dylan P. Losey IEEE Robotics and Automation Letters Read Paper
Learning to share autonomy across repeated interaction Ananth Jonnavittula, Dylan P. Losey IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper
Physical interaction as communication: Learning robot objectives online from human corrections Dylan P. Losey, Andrea Bajcsy, Marcia K. O'Malley, Anca D. Dragan The International Journal of Robotics Research Read Paper
Learning reward functions from diverse sources of human feedback: Optimally integrating demonstrations and preferences Erdem Bıyık, Dylan P. Losey, Malayandi Palan, Nicholas C. Landolfi, Gleb Shevchuk, Dorsa Sadigh The International Journal of Robotics Research Read Paper
Learning latent actions to control assistive robots Dylan P. Losey, Hong Jun Jeon, Mengxi Li, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, Jeannette Bohg, Dorsa Sadigh Autonomous Robots Read Paper
Learning visually guided latent actions for assistive teleoperation Siddharth Karamcheti, Albert J. Zhai, Dylan P. Losey, Dorsa Sadigh Learning for Dynamics & Control (L4DC) Read Paper
I know what you meant: Learning human objectives by (under)estimating their choice set Ananth Jonnavittula, Dylan P. Losey IEEE International Conference on Robotics and Automation (ICRA) Read Paper
Learning human objectives from sequences of physical corrections Mengxi Li, Alper Canberk, Dylan P. Losey, Dorsa Sadigh IEEE International Conference on Robotics and Automation (ICRA) Read Paper

2020

Learning latent representations to influence multi-agent interaction Annie Xie, Dylan P. Losey, Ryan Tolsma, Chelsea Finn, Dorsa Sadigh Conference on Robot Learning (CoRL) Read Paper
Learning user-preferred mappings for intuitive robot control Mengxi Li, Dylan P. Losey, Jeannette Bohg, Dorsa Sadigh IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper
Shared autonomy with learned latent actions Hong Jun Jeon, Dylan P. Losey, Dorsa Sadigh Robotics: Science and Systems (RSS) Read Paper
When humans aren’t optimal: Robots that collaborate with risk-aware humans Minae Kwon, Erdem Bıyık, Aditi Talati, Karan Bhasin, Dylan P. Losey, Dorsa Sadigh ACM/IEEE International Conference on Human-Robot Interaction (HRI) Read Paper
Controlling assistive robots with learned latent actions Dylan P. Losey, Krishnan Srinivasan, Ajay Mandlekar, Animesh Garg, Dorsa Sadigh IEEE International Conference on Robotics and Automation (ICRA) Read Paper

2019

Learning the correct robot trajectory in real-time from physical human interactions Dylan P. Losey, Marcia K. O'Malley ACM Transactions on Human-Robot Interaction Read Paper
Learning from my partner’s actions: Roles in decentralized robot teams Dylan P. Losey*, Mengxi Li*, Jeannette Bohg, Dorsa Sadigh Conference on Robot Learning (CoRL) Read Paper
Asking easy questions: A user-friendly approach to active reward learning Erdem Bıyık, Malayandi Palan, Nicholas C. Landolfi, Dylan P. Losey, Dorsa Sadigh Conference on Robot Learning (CoRL) Read Paper
Robots that take advantage of human trust Dylan P. Losey, Dorsa Sadigh IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) Read Paper
Improving short-term retention after robotic training by leveraging fixed-gain controllers Dylan P. Losey, Laura Blumenschein, Janelle Clark, Marcia K. O'Malley Journal of Rehabilitation and Assistive Technologies Engineering Read Paper
Enabling robots to infer how end-users teach and learn through human-robot interaction Dylan P. Losey, Marcia K. O'Malley IEEE Robotics and Automation Letters Read Paper

2018

Trajectory deformations from physical human-robot interaction Dylan P. Losey, Marcia K. O'Malley IEEE Transactions on Robotics Read Paper
A review of intent detection, arbitration, and communication aspects of shared control for physical human-robot interaction Dylan P. Losey, Craig G. McDonald, Edoardo Battaglia, Marcia K. O’Malley Applied Mechanics Reviews Read Paper
Including uncertainty when learning from human corrections Dylan P. Losey, Marcia K. O'Malley Conference on Robot Learning (CoRL) Read Paper
Learning from physical human corrections, one feature at a time Andrea Bajcsy, Dylan P. Losey, Marcia K. O’Malley, Anca D. Dragan ACM/IEEE International Conference on Human-Robot Interaction (HRI) Read Paper

2017

Learning robot objectives from physical human interaction Andrea Bajcsy*, Dylan P. Losey*, Marcia K. O’Malley, Anca D. Dragan Conference on Robot Learning (CoRL) Read Paper
Effects of discretization on the K-width of series elastic actuators Dylan P. Losey, Marcia K. O'Malley IEEE International Conference on Robotics and Automation (ICRA) Read Paper

2016

A time domain approach to control of series elastic actuators: Adaptive torque and passivity-based impedance control Dylan P. Losey, Andrew Erwin, Craig G. McDonald, Fabrizio Sergi, Marcia K. O’Malley IEEE/ASME Transactions on Mechatronics Read Paper
Minimal assist-as-needed controller for upper limb robotic rehabilitation Ali Utku Pehlivan, Dylan P. Losey, Marcia K. O'Malley IEEE Transactions on Robotics Read Paper