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๐Ÿค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.

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