arXiv subjects

Yuna Hwang

Publications and source records attributed to Yuna Hwang.

4 recordsLinked to original sources

arXiv2026

SHRIMP: Iterative Refinement of Robot Task Plans

As collaborative robots have entered domains such as manufacturing, agriculture, and healthcare, programming or adapting robot behavior typically requires robotic expertise that most end users lack. Natural language lowers this barrier. Recent advancements in large language models (LLMs) have made it feasible to translate natural language into robot task plans. However, language-based task specification suffers from semantic ambiguity, and generative models lack transparency for how language instructions become robot actions, making it difficult for users to validate the plan before execution. To address these issues, we introduce SHRIMP, a system that allows users to automatically generate a hierarchical robot primitive plan using natural language and iteratively revise their plan through re-prompting and explicit correction. At each revision, SHRIMP allows users to validate their plan in simulation, and once satisfied, execute it on the physical robot. Through a user study involving participants planning tabletop kitchen tasks (n=35), we validate that SHRIMP improves perceived control and enhances robot transparency. System videos and source code are available at https://wisc-hci.github.io/SHRIMP.

cs.RO↗

arXiv2025

Bridging Generations using AI-Supported Co-Creative Activities

Intergenerational co-creation using technology between grandparents and grandchildren can be challenging due to differences in technological familiarity. AI has emerged as a promising tool to support co-creative activities, offering flexibility and creative assistance, but its role in facilitating intergenerational connection remains underexplored. In this study, we conducted a user study with 29 grandparent-grandchild groups engaged in AI-supported story creation to examine how AI-assisted co-creation can foster meaningful intergenerational bonds. Our findings show that grandchildren managed the technical aspects, while grandparents contributed creative ideas and guided the storytelling. AI played a key role in structuring the activity, facilitating brainstorming, enhancing storytelling, and balancing the contributions of both generations. The process fostered mutual appreciation, with each generation recognizing the strengths of the other, leading to an engaging and cohesive co-creation process. We offer design implications for integrating AI into intergenerational co-creative activities, emphasizing how AI can enhance connection across skill levels and technological familiarity.

cs.HC↗

arXiv2024

Understanding Generative AI in Robot Logic Parametrization

Leveraging generative AI (for example, Large Language Models) for language understanding within robotics opens up possibilities for LLM-driven robot end-user development (EUD). Despite the numerous design opportunities it provides, little is understood about how this technology can be utilized when constructing robot program logic. In this paper, we outline the background in capturing natural language end-user intent and summarize previous use cases of LLMs within EUD. Taking the context of filmmaking as an example, we explore how a cinematography practitioner's intent to film a certain scene can be articulated using natural language, captured by an LLM, and further parametrized as low-level robot arm movement. We explore the capabilities of an LLM interpreting end-user intent and mapping natural language to predefined, cross-modal data in the process of iterative program development. We conclude by suggesting future opportunities for domain exploration beyond cinematography to support language-driven robotic camera navigation.

cs.RO↗

arXiv2024

Understanding On-the-Fly End-User Robot Programming

Novel end-user programming (EUP) tools enable on-the-fly (i.e., spontaneous, easy, and rapid) creation of interactions with robotic systems. These tools are expected to empower users in determining system behavior, although very little is understood about how end users perceive, experience, and use these systems. In this paper, we seek to address this gap by investigating end-user experience with on-the-fly robot EUP. We trained 21 end users to use an existing on-the-fly EUP tool, asked them to create robot interactions for four scenarios, and assessed their overall experience. Our findings provide insight into how these systems should be designed to better support end-user experience with on-the-fly EUP, focusing on user interaction with an automatic program synthesizer that resolves imprecise user input, the use of multimodal inputs to express user intent, and the general process of programming a robot.

cs.RO↗