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

Nayoung Ha, Ruolin Ye, Ziang Liu, Shubhangi Sinha, Tapomayukh Bhattacharjee
10/13/2024
cs.ROcs.CVcs.GR

No confident code implementation found for this paper.

Abstract

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 bite acquisition actions such as skewering, scooping, and twirling. If the data-driven model predicts low success for direct bite acquisition, the system initiates a Real2Sim phase, reconstructing the food's geometry in a simulation. The robot explores various pre-acquisition actions in the simulation, then a Sim2Real step renders a photorealistic image to reassess success rates. If the success improves, the robot applies the action in reality. We evaluate the system on 15 diverse plates with 10 types of food items for a soft food diet, showing improvement in bite acquisition success rates by 27\% on average across all plates. See our project website at https://emprise.cs.cornell.edu/repeat.

View on arXivView PDF

Code Implementations

No confident code match yet

We couldn't find an author-owned or strongly-evidenced community implementation for this paper. Any repos shown below are weak matches — verify before relying on them.

No code implementations found yet.

Know of an implementation? Let us know in the comments below!

Similar Papers

Learning Sequential Acquisition Policies for Robot-Assisted Feeding

89% match2023

IMRL: Integrating Visual, Physical, Temporal, and Geometric Representations for Enhanced Food Acquisition

85% match2024

SliceIt! -- A Dual Simulator Framework for Learning Robot Food Slicing

83% match1 repo102024

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

83% match2022

Adaptive Visual Imitation Learning for Robotic Assisted Feeding Across Varied Bowl Configurations and Food Types

82% match2024

ZeroMimic: Distilling Robotic Manipulation Skills from Web Videos

81% match1 repo182025

Cite this paper

@article{ha2024repeat,
  title  = {REPeat: A Real2Sim2Real Approach for Pre-acquisition of Soft Food Items in Robot-assisted Feeding},
  author = {Nayoung Ha and Ruolin Ye and Ziang Liu and Shubhangi Sinha and Tapomayukh Bhattacharjee},
  year   = {2024},
  eprint = {2410.10017},
  archivePrefix = {arXiv},
  url    = {http://arxiv.org/abs/2410.10017v1}
}

Add a badge to your README

Shows whether official code is linked for this paper.

Code of Paper badge
[![Code of Paper](https://codeofpaper.com/badge/2410.10017.svg)](https://codeofpaper.com/paper/2410.10017)

Discussion