HRI '25: Lessons Learned from Designing and Evaluating a Robot-assisted Feeding System for Out-of-lab Use

This is the robot system code (behavior trees, perception nodes, planning scene, etc.) associated with the paper "Lessons Learned from Designing and Evaluating a Robot-assisted Feeding System for Out-of-lab Use" published in the Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction. The code is open-sourced under the BSD 3-Clause license.

If you use or refer to this code, please cite:

@inproceedings{nanavati2025lessons,
  title={Lessons Learned from Designing and Evaluating a Robot-assisted Feeding System for Out-of-lab Use},
  author={Nanavati, Amal and Gordon, Ethan K and Kessler Faulkner, Taylor A and Song, Yuxin (Ray) and Ko, Johnathan and Schrenk, Tyler and Nguyen, Vy and Zhu, Bernie Hao and Bolotski, Haya and Kashyap, Atharva and Kutty, Sriram and Karim, Raida and Rainbolt, Liander and Scalise, Rosario and Song, Hanjun and Qu, Ramon and Cakmak, Maya and Srinivasa, Siddhartha S},
  booktitle={Proceedings of the 2025 ACM/IEEE International Conference on Human-Robot Interaction},
  year={2025}
}

Pre-BT Working Demo

This release contains code that produces a working demo with the pre-BehaviorTree framework.

[ARCHIVE] Code Used for 2022 Social Dining Videos

Main changes from the pre-BT release is:

• Added a hardcoded "feed from side" configuration, that is toggleable by the command line.
• Added a hardcoded "invisible resting pose" configuration, that is toggleable by the command line (the robot will move here as oppose to going above the plate).