I'm a Ph.D. student at the STARS Lab, University of Toronto. My research focuses on the application of generative and self-supervised learning to robotics problems. I am also interested in multimodal sensing for manipulation. I'm supervised by Prof. Jonathan Kelly.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Proceedings of the Robotics: Science and Systems (RSS) Workshop on Symmetries in Robot Learning, 2023
Robot Photography via Foundation Models.
Visuotactile Manipulation.
Learning to Scan and Sort.
I alpha-tested Kindred AI's SenseAct reinforcement learning framework. This involved reproducing policy learning results presented on a UR5 in the original paper on my lab's UR10.
A mobile manipulator simultaneously moves its base while drawing a straight line with its end-effector using Redundant Inverse Kinematics. The marker maintains contact with the whiteboard using an impedance controller.
Teleoperate a manipulator using hand tracking with a Kinect camera. The gripper closes and opens based on the output of a neural network that detects if the user's hand is open or closed in the image.
Push or pull a mobile manipulator around based on an admittance controller and force torque sensor. Depending on the amount of force applied the manipulator moves alone or the mobile manipulator moves together.