projects

Research Projects
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Predicting 3D Action Target from 2D Egocentric Vision for HRI

Improved safety and efficiency in Human Robot Interaction (HRI) with a 3D human action target prediction algorithm from 2D egocentric vision, implemented real-world HRI demonstrations on a UR10e robot. (paper accepted by ICRA 2024)
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Accelerated gradient descent algorithm for MPC

Designed and Developed an accelerated gradient descent algorithm for real-time, high-frequency Nonlinear Model Predictive Control, achieving performance comparable to Differential Dynamic Programming (DDP) at 1 kHz. (LBR paper accpeted by UR 2024)
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Contact Implicit Trajectory Optimization for Locomotion & Manipulation

Developing contact implicit trajectory optimization algorithms to enhance robotic interaction in complex environments, enabling dexterous manipulation and legged locomotion without pre-specified mode sequences