Current Projects

Task and Motion Planning for Rearrangement

Developing TAMP algorithms that enable robotic manipulators to re-arrange objects in constrained environments.

DQ Robotics Framework

Key advantages of dual quaternions:

• Compact 8-dimensional representation
• Avoids gimbal lock and singularities
• Efficient computation of forward/inverse kinematics
• Natural handling of screws and twists

Smart Arm Stack

Smart Arm Stack, an integrated software framework for robot drivers:

Interested In

Motion Planning & Control — Sampling-based Planning, Trajectory Optimization, Model Predictive Control, Dual Quaternion Control

Learning-Based Approaches — Diffusion Models, Reinforcement Learning, Imitation Learning, Learning from Experience

Optimization — Convex Optimization, Combinatorial Optimization, Mixed-Integer Programming, Non-linear Optimization

Probabilistic Methods — Probabilistic Robotics