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Kruthika Gangaraju

Publications and source records attributed to Kruthika Gangaraju.

7 recordsLinked to original sources

An Interactive LLM-Based Simulator for Dementia-Related Activities of Daily Living

Effective dementia caregiving requires training and adaptive communication, but assistive AI and robotics are constrained by a lack of context-rich, privacy-sensitive data on how people living with Alzheimer's disease and related dementias (ADRD) behave during activities of daily living (ADLs). We introduce a web-based simulator that uses a large language model (gpt-5-mini) to generate multi-turn, severity- and care-setting-conditioned patient behaviors during ADL assistance, pairing utterances with lightweight behavioral cues (in parentheses). Users set dementia severity, care setting (and time in setting), and ADL; after each patient turn they rate realism (1-5) with optional critique, then respond as the caregiver via free text or by selecting/editing one of four strategy-scaffolded suggestions (Recognition, Negotiation, Facilitation, Validation). We ran an online formative expert-in-the-loop study (14 dementia-care experts, 18 sessions, 112 rated turns). Simulated behavior was judged moderately to highly plausible, with a typical session length of six turns. Experts wrote custom replies for 54.5 percent of turns; Recognition and Facilitation were the most-used suggested strategies. Thematic analysis of critiques produced a six-category failure-mode taxonomy, revealing recurring breakdowns in ADL grounding and care-setting consistency and guiding prompt/workflow refinements. The simulator and logged interactions enable an evidence-driven refinement loop toward validated patient-caregiver co-simulation and support data collection, caregiver training, and assistive AI and robot policy development.

cs.HC↗

Assist-As-Needed: Adaptive Multimodal Robotic Assistance for Medication Management in Dementia Care

People living with dementia (PLWDs) face progressively declining abilities in medication management-from simple forgetfulness to complete task breakdown-yet most assistive technologies fail to adapt to these changing needs. This one-size-fits-all approach undermines autonomy, accelerates dependence, and increases caregiver burden. Occupational therapy principles emphasize matching assistance levels to individual capabilities: minimal reminders for those who merely forget, spatial guidance for those who misplace items, and comprehensive multimodal support for those requiring step-by-step instruction. However, existing robotic systems lack this adaptive, graduated response framework essential for maintaining PLWD independence. We present an adaptive multimodal robotic framework using the Pepper robot that dynamically adjusts assistance based on real-time assessment of user needs. Our system implements a hierarchical intervention model progressing from (1) simple verbal reminders, to (2) verbal + gestural cues, to (3) full multimodal guidance combining physical navigation to medication locations with step-by-step verbal and gestural instructions. Powered by LLM-driven interaction strategies and multimodal sensing, the system continuously evaluates task states to provide just-enough assistance-preserving autonomy while ensuring medication adherence. We conducted a preliminary study with healthy adults and dementia care stakeholders in a controlled lab setting, evaluating the system's usability, comprehensibility, and appropriateness of adaptive feedback mechanisms. This work contributes: (1) a theoretically grounded adaptive assistance framework translating occupational therapy principles into HRI design, (2) a multimodal robotic implementation that preserves PLWD dignity through graduated support, and (3) empirical insights into stakeholder perceptions of adaptive robotic care.

cs.RO↗

Vision-Guided Loco-Manipulation with a Snake Robot

This paper presents the development and integration of a vision-guided loco-manipulation pipeline for Northeastern University's snake robot, COBRA. The system leverages a YOLOv8-based object detection model and depth data from an onboard stereo camera to estimate the 6-DOF pose of target objects in real time. We introduce a framework for autonomous detection and control, enabling closed-loop loco-manipulation for transporting objects to specified goal locations. Additionally, we demonstrate open-loop experiments in which COBRA successfully performs real-time object detection and loco-manipulation tasks.

cs.RO↗

A Thesis on Loco-Manipulation with Non-impulsive Contact-Implicit Planning in a Slithering Robot

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through locomotion, referred to as loco-manipulation. The following work presents an optimization approach to solving the loco-manipulation problem based on non-impulsive implicit contact path planning for our snake robot COBRA. This thesis presents the mathematical framework and show high-fidelity simulation results and experiments to demonstrate the effectiveness of our approach.

cs.RO↗

Loco-Manipulation with Nonimpulsive Contact-Implicit Planning in a Slithering Robot

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through locomotion, referred to as loco-manipulation. The following work presents an optimization approach to solving the loco-manipulation problem based on non-impulsive implicit contact path planning for our snake robot COBRA. We present the mathematical framework and show high-fidelity simulation results and experiments to demonstrate the effectiveness of our approach.

cs.RO↗

Non-impulsive Contact-Implicit Motion Planning for Morpho-functional Loco-manipulation

Object manipulation has been extensively studied in the context of fixed base and mobile manipulators. However, the overactuated locomotion modality employed by snake robots allows for a unique blend of object manipulation through locomotion, referred to as loco-manipulation. The following work presents an optimization approach to solving the loco-manipulation problem based on non-impulsive implicit contact path planning for our snake robot COBRA. We present the mathematical framework and show high fidelity simulation results for fixed-shape lateral rolling trajectories that demonstrate the object manipulation.

cs.RO↗

How Strong a Kick Should be to Topple Northeastern's Tumbling Robot?

Rough terrain locomotion has remained one of the most challenging mobility questions. In 2022, NASA's Innovative Advanced Concepts (NIAC) Program invited US academic institutions to participate NASA's Breakthrough, Innovative \& Game-changing (BIG) Idea competition by proposing novel mobility systems that can negotiate extremely rough terrain, lunar bumpy craters. In this competition, Northeastern University won NASA's top Artemis Award award by proposing an articulated robot tumbler called COBRA (Crater Observing Bio-inspired Rolling Articulator). This report briefly explains the underlying principles that made COBRA successful in competing with other concepts ranging from cable-driven to multi-legged designs from six other participating US institutions.

cs.RO↗