🤝Undergraduate Research Assistant

Undergraduate research assistant

Recently, I'm working on

• TIAGo Robot (familiar with ROS, Gazebo, RViz, MoveIt)

• Robot Learning

• Theory of Mind, Human Robot Interaction & Collaboration

• Multiple objects tracking

• Mobile Manipulation

I'm working with our lab's TIAGo robot.

A little engineering experience...

• Applied Grounded-SAM to TIAGo robot and made open-world object detection and segmentation (Output: bbox, mask).
• Given the mask information and the depth information of objects obtained from TIAGo using ROS, applied transformations and figured out appropriate coordinates slightly above the objects in TIAGo's base frame.

• Given these coordinates, I then used MoveIt to enable TIAGo to grab the objects and either place or give to a user with the ability of avoiding obstacles.