Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Towards Assistive Feeding with a General-Purpose Mobile Manipulator   General-purpose mobile manipulators have the potential to serve as a
versatile form of assistive technology. However, their complexity creates
challenges, including the risk of being too difficult to use. We present a
proof-of-concept robotic system for assistive feeding that consists of a Willow
Garage PR2, a high-level web-based interface, and specialized autonomous
behaviors for scooping and feeding yogurt. As a step towards use by people with
disabilities, we evaluated our system with 5 able-bodied participants. All 5
successfully ate yogurt using the system and reported high rates of success for
the system's autonomous behaviors. Also, Henry Evans, a person with severe
quadriplegia, operated the system remotely to feed an able-bodied person. In
general, people who operated the system reported that it was easy to use,
including Henry. The feeding system also incorporates corrective actions
designed to be triggered either autonomously or by the user. In an offline
evaluation using data collected with the feeding system, a new version of our
multimodal anomaly detection system outperformed prior versions.

15
The categories of this paper are: nucl-ex
29
The categories of this paper are: funct-an
8
The categories of this paper are: hep-ex
24
The categories of this paper are: dg-ga
26
The categories of this paper are: bayes-an
37
The categories of this paper are: supr-con
33
The categories of this paper are: plasm-ph
34
The categories of this paper are: chem-ph
27
The categories of this paper are: comp-gas
6
The categories of this paper are: astro-ph
18
The categories of this paper are: econ
14
The categories of this paper are: math-ph
9
The categories of this paper are: nlin
21
The categories of this paper are: adap-org
36
The categories of this paper are: cmp-lg
17
The categories of this paper are: q-fin