{"682628":{"#nid":"682628","#data":{"type":"event","title":"PhD Proposal by Kartik Ramachandruni","body":[{"value":"\u003Cp\u003ETitle: User-Adaptive Object Rearrangement Alongside and in Collaboration with People\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003EDate: Monday, June 9th, 2025\u003C\/p\u003E\u003Cp\u003ETime: 12 PM ET\u003C\/p\u003E\u003Cp\u003ELocation: Klaus 1120A\u003C\/p\u003E\u003Cp\u003EVirtual link (zoom): \u003Ca href=\u0022https:\/\/gatech.zoom.us\/j\/95599584934\u0022\u003Ehttps:\/\/gatech.zoom.us\/j\/95599584934\u003C\/a\u003E\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EKartik Ramachandruni\u003C\/strong\u003E\u003C\/p\u003E\u003Cp\u003ERobotics Ph.D. Student\u003C\/p\u003E\u003Cp\u003ESchool of Interactive Computing\u003C\/p\u003E\u003Cp\u003EGeorgia Institute of Technology\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003ECommittee:\u003C\/p\u003E\u003Cp\u003EDr. Sonia Chernova (Advisor) - School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Harish Ravichandar - School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Zsolt Kira - School of Interactive Computing, Georgia Institute of Technology\u003C\/p\u003E\u003Cp\u003EDr. Tesca Fitzgerald - Computer Science Department, Yale University\u003C\/p\u003E\u003Cp\u003EDr. Akshara Rai - Meta AI\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E\u003Cp\u003E\u003Cstrong\u003EAbstract\u003C\/strong\u003E:\u003C\/p\u003E\u003Cp\u003EThe object rearrangement problem in robotics is the challenge of manipulating objects to bring the user\u2019s environment to a desired goal state. Effective object rearrangement is characterized by: 1) autonomy\u0026nbsp;\u2013 the robot\u0027s behavior must be autonomous, requiring no input from the user, 2) personalization\u0026nbsp;\u2013 the object arrangement should match the user\u2019s individual organizational style, 3)\u0026nbsp; generalization\u0026nbsp;\u2013 the robot\u2019s rearrangement strategy should generalize to novel objects and environments, and 4) user-alignment\u0026nbsp;\u2013 if the user is present, the robot\u0027s modifications to the environment must align with human activities and actions. To endow the robot with the above characteristics, this thesis introduces \u003Cstrong\u003Eplanning frameworks for communication-free object rearrangement alongside and in collaboration with people\u003C\/strong\u003E. These frameworks incorporate semantic task information, observed user actions, and prior environment states to learn object rearrangement preferences and task strategies, generalizing to previously unseen objects and environments in a zero-shot manner. Specifically, this thesis\u0026nbsp;presents four key contributions: (1) A human-robot collaboration algorithm that leverages observed human actions and prior task knowledge to actively select robot actions that complement human behavior and maximize task efficiency, thereby enabling mutual adaptation; (2) Object rearrangement frameworks that utilize prior object arrangements, the current environment state, and environment semantics to place objects meaningfully in partially arranged environments; (3) A crowdsourced benchmark and dataset collected from 72 online users performing household organization tasks involving diverse objects and environments, to evaluate personalized object rearrangement in partially arranged settings; and (4) A proposed approach for relocating misplaced objects in human-occupied environments without interrupting ongoing user activities.\u003C\/p\u003E\u003Cp\u003E\u0026nbsp;\u003C\/p\u003E","summary":"","format":"limited_html"}],"field_subtitle":"","field_summary":[{"value":"\u003Cp\u003EUser-Adaptive Object Rearrangement Alongside and in Collaboration with People\u003C\/p\u003E","format":"limited_html"}],"field_summary_sentence":[{"value":"User-Adaptive Object Rearrangement Alongside and in Collaboration with People"}],"uid":"27707","created_gmt":"2025-06-02 19:01:50","changed_gmt":"2025-06-02 19:01:50","author":"Tatianna Richardson","boilerplate_text":"","field_publication":"","field_article_url":"","field_event_time":{"event_time_start":"2025-06-09T12:00:00-04:00","event_time_end":"2025-06-09T14:00:00-04:00","event_time_end_last":"2025-06-09T14:00:00-04:00","gmt_time_start":"2025-06-09 16:00:00","gmt_time_end":"2025-06-09 18:00:00","gmt_time_end_last":"2025-06-09 18:00:00","rrule":null,"timezone":"America\/New_York"},"location":"Klaus 1120A","extras":[],"groups":[{"id":"221981","name":"Graduate Studies"}],"categories":[],"keywords":[{"id":"102851","name":"Phd proposal"}],"core_research_areas":[],"news_room_topics":[],"event_categories":[{"id":"1788","name":"Other\/Miscellaneous"}],"invited_audience":[{"id":"78771","name":"Public"}],"affiliations":[],"classification":[],"areas_of_expertise":[],"news_and_recent_appearances":[],"phone":[],"contact":[],"email":[],"slides":[],"orientation":[],"userdata":""}}}