Emma Dixon

Hanuma Teja Maddali, Emma Dixon, Alisha Pradhan et al.

There has been a growing interest in HCI to understand the specific technological needs of people with dementia and supporting them in self-managing daily activities. One of the most difficult challenges to address is supporting the fluctuating accessibility needs of people with dementia, which vary with the specific type of dementia and the progression of the condition. Researchers have identified auto-personalized interfaces, and more recently, Artificial Intelligence or AI-driven personalization as a potential solution to making commercial technology accessible in a scalable manner for users with fluctuating ability. However, there is a lack of understanding on the perceptions of people with dementia around AI as an aid to their everyday technology use and its role in their overall self-management systems, which include other non-AI technology, and human assistance. In this paper, we present future directions for the design of AI-based systems to personalize an interface for dementia-related changes in different types of memory, along with expectations for AI interactions with the user with dementia.

Chen Xu, Tony Khuong Nguyen, Emma Dixon et al.

Recent years have witnessed impressive robotic manipulation systems driven by advances in imitation learning and generative modeling, such as diffusion- and flow-based approaches. As robot policy performance increases, so does the complexity and time horizon of achievable tasks, inducing unexpected and diverse failure modes that are difficult to predict a priori. To enable trustworthy policy deployment in safety-critical human environments, reliable runtime failure detection becomes important during policy inference. However, most existing failure detection approaches rely on prior knowledge of failure modes and require failure data during training, which imposes a significant challenge in practicality and scalability. In response to these limitations, we present FAIL-Detect, a modular two-stage approach for failure detection in imitation learning-based robotic manipulation. To accurately identify failures from successful training data alone, we frame the problem as sequential out-of-distribution (OOD) detection. We first distill policy inputs and outputs into scalar signals that correlate with policy failures and capture epistemic uncertainty. FAIL-Detect then employs conformal prediction (CP) as a versatile framework for uncertainty quantification with statistical guarantees. Empirically, we thoroughly investigate both learned and post-hoc scalar signal candidates on diverse robotic manipulation tasks. Our experiments show learned signals to be mostly consistently effective, particularly when using our novel flow-based density estimator. Furthermore, our method detects failures more accurately and faster than state-of-the-art (SOTA) failure detection baselines. These results highlight the potential of FAIL-Detect to enhance the safety and reliability of imitation learning-based robotic systems as they progress toward real-world deployment.