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X-APPLE-TRAVEL-ADVISORY-BEHAVIOR:AUTOMATIC
234031
20260402T150748Z
DTSTART;TZID=America/New_York:20260423T140000
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 0260423T150000
URL;TYPE=URI:https://www.wpi.edu/news/calendar/events/robot
 ics-engineering-masters-thesis-presentation-neel-girish-bahadarpurkar
Robotics Engineering Master\'s Thesis Presentation - Neel Girish Bahadarpurkar
LLM-Empowered Multimodal Human-Robot Collaborative Control for Robotic Nursing Assistance\n\n\n\n      \n      \n\n\n\nAbstract:
  This thesis presents a multimodal human-robot interaction system that ena
 bles a nurse to control a remote manipulation robot through natural gaze a
 nd speech commands. The nurse wears Tobii Pro Glasses 3 and speaks command
 s while looking at objects on a patient's bedside table. The system fuses 
 eye-gaze fixations with word-level speech timestamps in real time to resol
 ve deictic references (e.g., "put that on the trolley"), then processes th
 e grounded command through a four-agent LLM pipeline for intent resolution
 , dialog clarification, task planning, and plan verification. The architec
 ture spans two compute platforms bridged by MQTT—a Jetson AGX Orin runni
 ng perception and LLM agents under ROS 2, and a robot machine(IONA) runnin
 g manipulation under ROS 1. We validate the system on IONA, a dual-arm mob
 ile nursing robot, performing bedside table-clearing tasks with eight obje
 cts and two destinations, demonstrating end-to-end multimodal interaction 
 in a realistic scenario.\nAdvisor: Professor Jane LiCommittee: Professor H
 aichong Zhang, Professor Fiona Yuan\nZoom link: https://wpi.zoom.us/j/9162
 3889103?pwd=HbQFG1SOMgAHUdyaA1Nh34MPavTCax.1\n
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