Oliver Limoyo
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.
Selected Publications
Photobot: Reference-guided Interactive Photography via Natural Language
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2024
Euclidean Equivariant Models for Generative Graphical Inverse Kinematics
Proceedings of the Robotics: Science and Systems (RSS) Workshop on Symmetries in Robot Learning, 2023
Work
Robotics & AI Research Scientist Intern
Samsung AI Centre Montreal, Jan. 2023 - Sept. 2023
Robot Photography via Foundation Models.
Robotics & AI Research Scientist Intern
Samsung AI Centre Montreal, May 2022 - Dec. 2022
Visuotactile Manipulation.
AI Research Scientist Intern
Kindred AI (Part of OCADO Group), Apr. 2019 - Aug. 2019
Learning to Scan and Sort.
Projects
Reproducing Reinforcement Learning Results on Real-World Robots
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.
Mobile Manipulator Line Drawing with Redundant Inverse Kinematics and Impedance Controller
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.
Manipulator Teleoperation with Camera-based Hand Tracking
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.
Full Body Admittance Control of Mobile Manipulator
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.