Tapomayukh Bhattacharjee

WAFFLE: A Wearable Approach to Bite Timing Estimation in Robot-Assisted Feeding Open

Akhil Padmanabha, Jessie Yuan, Tanisha Mehta, Rajat Kumar Jenamani, Eric Hu , et al. · 2025

Millions of people around the world need assistance with feeding. Robotic feeding systems offer the potential to enhance autonomy and quality of life for individuals with impairments and reduce caregiver workload. However, their widespread…

Detection of Neonatal Calf Diarrhea Using Suckle Pressure and Machine Learning Open

Beibei Xu, C.R. Seely, Tapomayukh Bhattacharjee, T.E. von Konigslow · 2025

Neonatal calf diarrhea (NCD) remains one of the most prevalent and economically burdensome health challenges in preweaned calves, leading to compromised growth, increased morbidity, and high mortality rates worldwide. While traditional met…

Oral temperature of preweaning dairy heifers: Sensitivity and specificity at detecting individuals with pyrexia Open

K.R.K. Gottwald, J.A.A. McArt, Tapomayukh Bhattacharjee, T.E. von Konigslow · 2025

Change in body temperature can be an early indicator of illness. In calves, body temperature is routinely estimated from rectal temperature measurement. Integrating oral temperature sensors into automated feeding systems might present a fe…

FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization Open

Rajat Kumar Jenamani, Tom Silver, Ben Dodson, S. Y. Tong, Aimin Song , et al. · 2025

FEAST: A Flexible Mealtime-Assistance System Towards In-the-Wild Personalization Open

Rajat Kumar Jenamani, Tom Silver, Ben Dodson, S. Y. Tong, Aimin Song , et al. · 2025

Physical caregiving robots hold promise for improving the quality of life of millions worldwide who require assistance with feeding. However, in-home meal assistance remains challenging due to the diversity of activities (e.g., eating, dri…

SAVOR: Skill Affordance Learning from Visuo-Haptic Perception for Robot-Assisted Bite Acquisition Open

Zhanxin Wu, Bo Ai, Tom Silver, Tapomayukh Bhattacharjee · 2025

Robot-assisted feeding requires reliable bite acquisition, a challenging task due to the complex interactions between utensils and food with diverse physical properties. These interactions are further complicated by the temporal variabilit…

CLAMP: Crowdsourcing a LArge-scale in-the-wild haptic dataset with an open-source device for Multimodal robot Perception Open

Pranav N. Thakkar, Sankhaneel Sinha, Karan Baijal, Yuhan, Bian , et al. · 2025

Robust robot manipulation in unstructured environments often requires understanding object properties that extend beyond geometry, such as material or compliance-properties that can be challenging to infer using vision alone. Multimodal ha…

Coloring Between the Lines: Personalization in the Null Space of Planning Constraints Open

Tom Silver, Rajat Kumar Jenamani, Ziang Liu, Ben Dodson, Tapomayukh Bhattacharjee · 2025

Generalist robots must personalize in-the-wild to meet the diverse needs and preferences of long-term users. How can we enable flexible personalization without sacrificing safety or competency? This paper proposes Coloring Between the Line…

Descriptive characteristics of suckle physiology, milk intake and health in neonatal dairy calves Open

C.R. Seely, K.R.K. Gottwald, Baohua Xu, Tapomayukh Bhattacharjee, T.E. von Konigslow · 2025

The objective of this observational cohort study was to describe patterns in suckle pressure in neonatal dairy heifer calves. Despite technological advancements in precision animal health monitoring, morbidity and mortality in neonatal da…

Oral temperature as an indicator of disease in pre-weaned dairy calves Open

K.R.K. Gottwald, J.A.A. McArt, Tapomayukh Bhattacharjee, T.E. von Konigslow · 2025

Diarrheal and respiratory diseases pose significant threats to pre-weaned dairy calves. Early detection affords prompt intervention, thereby minimizing disease spread and severity and improving welfare and performance. Change in core body…

GRACE: Generalizing Robot-Assisted Caregiving with User Functionality Embeddings Open

Ziang Liu, Yuanchen Ju, Yu Da, Tom Silver, Pranav N. Thakkar , et al. · 2025

Robot caregiving should be personalized to meet the diverse needs of care recipients -- assisting with tasks as needed, while taking user agency in action into account. In physical tasks such as handover, bathing, dressing, and rehabilitat…

CART-MPC: Coordinating Assistive Devices for Robot-Assisted Transferring with Multi-Agent Model Predictive Control Open

Ruolin Ye, Shuaixing Chen, Yunda Yan, J. C. S. Yang, Chang Ge , et al. · 2025

Bed-to-wheelchair transferring is a ubiquitous activity of daily living (ADL), but especially challenging for caregiving robots with limited payloads. We develop a novel algorithm that leverages the presence of other assistive devices: a H…

Kiri-Spoon: A Kirigami Utensil for Robot-Assisted Feeding Open

Maya Keely, Brandon Franco, Casey Grothoff, Rajat Kumar Jenamani, Tapomayukh Bhattacharjee , et al. · 2025

For millions of adults with mobility limitations, eating meals is a daily challenge. A variety of robotic systems have been developed to address this societal need. Unfortunately, end-user adoption of robot-assisted feeding is limited, in …

REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-assisted Feeding Open

Ngoc-Tram Ha, Ruolin Ye, Ziang Liu, Sankhaneel Sinha, Tapomayukh Bhattacharjee · 2024

The paper presents REPeat, a Real2Sim2Real framework designed to enhance bite acquisition in robot-assisted feeding for soft foods. It uses `pre-acquisition actions' such as pushing, cutting, and flipping to improve the success rate of bit…

FLAIR: Feeding via Long-horizon AcquIsition of Realistic dishes Open

Rajat Kumar Jenamani, Priya Sundaresan, Maram Sakr, Tapomayukh Bhattacharjee, Dorsa Sadigh · 2024

Robot-assisted feeding has the potential to improve the quality of life for individuals with mobility limitations who are unable to feed themselves independently. However, there exists a large gap between the homogeneous, curated plates ex…

To Ask or Not To Ask: Human-in-the-loop Contextual Bandits with Applications in Robot-Assisted Feeding Open

Rohan Banerjee, Rajat Kumar Jenamani, Sidharth Vasudev, Amal Nanavati, Sarah Dean , et al. · 2024

Robot-assisted bite acquisition involves picking up food items with varying shapes, compliance, sizes, and textures. Fully autonomous strategies may not generalize efficiently across this diversity. We propose leveraging feedback from the …

CushSense: Soft, Stretchable, and Comfortable Tactile-Sensing Skin for Physical Human-Robot Interaction Open

Boxin Xu, Luoyan Zhong, Grace Zhang, Xiaoyu Liang, Diego Virtue , et al. · 2024

Whole-arm tactile feedback is crucial for robots to ensure safe physical interaction with their surroundings. This paper introduces CushSense, a fabric-based soft and stretchable tactile-sensing skin designed for physical human-robot inter…

MORPHeus: a Multimodal One-armed Robot-assisted Peeling System with Human Users In-the-loop Open

Ruolin Ye, Yi-Fei Hu, Yuhan, Bian, Luke Kulm , et al. · 2024

Meal preparation is an important instrumental activity of daily living~(IADL). While existing research has explored robotic assistance in meal preparation tasks such as cutting and cooking, the crucial task of peeling has received less att…

An Adaptable, Safe, and Portable Robot-Assisted Feeding System Open

Ethan Kroll Gordon, Rajat Kumar Jenamani, Amal Nanavati, Ziang Liu, Haya Bolotski , et al. · 2024

We demonstrate a robot-assisted feeding system that enables people with mobility impairments to feed themselves. Our system design embodies Safety, Portability, and User Control, with comprehensive full-stack safety checks, the ability to …

Feel the Bite: Robot-Assisted Inside-Mouth Bite Transfer using Robust Mouth Perception and Physical Interaction-Aware Control Open

Rajat Kumar Jenamani, Daniel Stabile, Ziang Liu, Abrar Anwar, Katherine Dimitropoulou , et al. · 2024

Robot-assisted feeding can greatly enhance the lives of those with mobility limitations. Modern feeding systems can pick up and position food in front of a care recipient's mouth for a bite. However, many with severe mobility constraints c…

RABBIT: A Robot-Assisted Bed Bathing System with Multimodal Perception and Integrated Compliance Open

Rishabh Madan, Skyler Valdez, David Kim, Sujie Fang, Luoyan Zhong , et al. · 2024

This paper introduces RABBIT, a novel robot-assisted bed bathing system designed to address the growing need for assistive technologies in personal hygiene tasks. It combines multimodal perception and dual (software and hardware) complianc…

Inferring Human Intent and Predicting Human Action in Human–Robot Collaboration Open

Guy Hoffman, Tapomayukh Bhattacharjee, Stefanos Nikolaidis · 2023

Researchers in human–robot collaboration have extensively studied methods for inferring human intentions and predicting their actions, as this is an important precursor for robots to provide useful assistance. We review contemporary method…

SPARCS: Structuring Physically Assistive Robotics for Caregiving with Stakeholders-in-the-loop Open

Rishabh Madan, Rajat Kumar Jenamani, Vy Nguyen, Ahmed A. Moustafa, Xuefeng Hu , et al. · 2022

Existing work in physical robot caregiving is limited in its ability to provide long-term assistance. This is majorly due to (i) lack of well-defined problems, (ii) diversity of tasks, and (iii) limited access to stakeholders from the care…

RCareWorld: A Human-centric Simulation World for Caregiving Robots Open

Ruolin Ye, Wenqiang Xu, Haoyuan Fu, Rajat Kumar Jenamani, Vy Nguyen , et al. · 2022

We present RCareWorld, a human-centric simulation world for physical and social robotic caregiving designed with inputs from stakeholders, including care recipients, caregivers, occupational therapists, and roboticists. RCareWorld has real…

Human-Human Commensality Dataset Open

Jan Ondras, Abrar Anwar, Tong Wu, Fanjun Bu, Malte Jung , et al. · 2022

A novel audio-visual dataset capturing human social eating behaviors of groups of three people sharing a meal. It contains multi-view RGBD video and directional audio recordings of 30 sessions, totaling over 18 hours of multistream, multim…

Human-Robot Commensality: Bite Timing Prediction for Robot-Assisted Feeding in Groups Open

Jan Ondras, Abrar Anwar, Tong Wu, Fanjun Bu, Malte Jung , et al. · 2022

We develop data-driven models to predict when a robot should feed during social dining scenarios. Being able to eat independently with friends and family is considered one of the most memorable and important activities for people with mobi…

Real Robot Challenge 2021: Cartesian Position Control with Triangle Grasp and Trajectory Interpolation Open

Rishabh Madan, Harshit Sikchi, Ethan Kroll Gordon, Tapomayukh Bhattacharjee · 2022

We present our runner-up approach for the Real Robot Challenge 2021. We build upon our previous approach used in Real Robot Challenge 2020. To solve the task of sequential goal-reaching we focus on two aspects to achieving near-optimal tra…

Real Robot Challenge 2021: Cartesian Position Control with Triangle\n Grasp and Trajectory Interpolation Open

Rishabh Madan, Harshit Sikchi, Ethan Kroll Gordon, Tapomayukh Bhattacharjee · 2022

We present our runner-up approach for the Real Robot Challenge 2021. We build\nupon our previous approach used in Real Robot Challenge 2020. To solve the task\nof sequential goal-reaching we focus on two aspects to achieving near-optimal\n…

Balancing Efficiency and Comfort in Robot-Assisted Bite Transfer Open

Suneel Belkhale, Ethan Kroll Gordon, Yuxiao Chen, Siddhartha S Srinivasa, Tapomayukh Bhattacharjee , et al. · 2021

Robot-assisted feeding in household environments is challenging because it requires robots to generate trajectories that effectively bring food items of varying shapes and sizes into the mouth while making sure the user is comfortable. Our…

Benchmarking Structured Policies and Policy Optimization for Real-World Dexterous Object Manipulation Open

Niklas Funk, Charles Schaff, Rishabh Madan, Takuma Yoneda, Julen Urain , et al. · 2021

Dexterous manipulation is a challenging and important problem in robotics. While data-driven methods are a promising approach, current benchmarks require simulation or extensive engineering support due to the sample inefficiency of popular…

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