Safety-Aware LLM Planning for Human-Robot Collaboration in Manufacturing An end-to-end pipeline integrating LLM action planning with a Neo4j knowledge graph of ISO safety standards and VLM scene understanding, enabling compliant cobot behavior in manufacturing settings. Contact-Aware Teleoperation for Robotic Manipulation A teleoperation system using camera-based hand tracking and VR interfaces that retargets human hand motion to robot configurations via optimal control, enforcing physical grasp stability through a Grasp Wrench Space formulation within a TAMP framework. Pedestrian Behavior Modeling for Autonomous Vehicles Explainable hybrid automaton models that predict long-horizon pedestrian crossing behavior, feeding probabilistic forecasts into AV motion planners for safe urban navigation. Real-Time Trust Estimation and Calibration for Autonomous Vehicles A Kalman filter-based framework that continuously estimates driver trust from behavioral signals and actively manages trust through adaptive communication, reducing miscalibration by ~40%. Real-Time Detection of Unexpected AI Behavior from Human Emotional Cues A multimodal pipeline using OpenFace 2.0, OpenSMILE, and XGBoost (79.4% TPR, ~2.7s latency) to detect user emotional responses to unexpected in-vehicle system behaviors, with autonomous verbal mitigation. Explainable AI Decision-Making in Human-AI Groups A closed-loop machine teaching framework using particle filter-based belief models and information-theoretic demonstration selection to adaptively explain robot decision-making to individuals and diverse groups. Trustworthy Interaction Between Automated Vehicles and Pedestrians Understanding and improving pedestrian trust in automated vehicles through behavioral studies and predictive models for safe, interpretable AV-pedestrian interactions. Participation detection and Robot Mediation for Inclusive Child Group Interactions Real-time sensing and robot strategies to support equitable participation among mixed-ability children in group interactions (WIP). Team cooperation dynamics in mixed-motive teams Studying factors that shape cooperation in mixed-motive human-AI teams through interactive online games.
