If the person being fed judges the spoon better as it nears the mouth, how much of a camera's value does a blind feeding arm get back?

What it found

A stdlib extension of osrobot-leannoise's planar feeding-arm twin in which the user's misjudgement of the spoon position shrinks, linearly over the last 40 mm, by a swept fraction (200 paired trials per row, 30 mm sway, 0.20 m/s, 100 mm/s lean). A blind arm's share of feeds with peak lip force at most 2 N is 0.83, 0.60, 0.47 and 0.41 for a constant misjudgement of 10, 20, 40 and 80 mm, and 0.99, 0.95, 0.84 and 0.70 when the error falls to zero at the lips; feeds that never reach the mouth (0.50 fed at 40 mm) disappear. With the error shrinking, the blind arm is within 0.02 of the camera arm up to 20 mm; the camera keeps its lead at 40 and 80 mm. Stylised: an assumed linear shrink law, assumed constants, a point mass and no real person.

A figure from its own output

Paper, code and results

• README and method
• Experiments and results
• Code
• Tests

More in Open-source purpose-built robots

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Other research topics

Proper scoring & elicitation28Effort & peer prediction9Verification games & slashing19Detection & tolerances14Markets as routers13Prediction-market design9Paying contributors8Decentralised training systems23Digital twins & sim-to-real164LLM chip design loops40Robot manufacturing loops53Ambient AI assistant46Self-replicating manufacturing34Simulation-first design64Engineered clothing45Task-specific AI accelerators40Algorithmic chip-design loops42Open-source purpose-built robots44The software-engineering loop43Adversarial human imitation41Open-source residential construction41Autonomous multi-angle capture34Sensing, imaging and 3D31Energy supply and dense energy storage39Robot societies among people31Agentic co-design of low-cost robots27Laundry-hanging robots25Machine learning on qualitative data23Robots on the building site27Civilizations & group psychology1History & human sciences1

Produced with AI assistance (Claude). Results are from the code in this repository and are simulated or stylised unless the abstract says otherwise; nothing here implies affiliation with or endorsement by any lab, researcher or company cited. MIT licensed.