Developed an intuitive method for replicable, real-world scenes of objects for robot benchmarking
Implemented scene generation pipeline in simulation with focus on cluttered but graspable scenes
Extened 10 existing methods across pose estimation, segmentation and grasping for real world experiments
Submodular Information Measures | Machine Learning
Proposed novel information theoretic measures for submodular set functionsin context for robust machine learning
Theoretical properties backed up with applications on outlier aware subsets, summarization & clustering tasks
Follow up works demonstrated computer vision applications in active learning for object detection
Relevant Publications
RobotFingerPrint: Unified Gripper Coordinate Space for Multi-Gripper Grasp Synthesis, (Under Submission)
MultiGripperGrasp: A Dataset for Robotic Grasping from Parallel Jaw Grippers to Dexterous Hands, In IEEE International Conference on Intelligent Robots and Systems (IROS) 2024.
RISeg: Robot Interactive Object Segmentation via Body Frame-Invariant Features, In IEEE International Conference on Robotics and Automation (ICRA) 2024.
SceneReplica: Benchmarking Real-World Robot Manipulation by Creating Replicable Scenes, In IEEE International Conference on Robotics and Automation (ICRA) 2024.
CIS2VR: CNN-based Indoor Scan to VR Environment Authoring Framework, In IEEE International Conference on AI & extended and Virtual Reality (AIxVR) 2024.
Self-Supervised Unseen Object Instance Segmentation via Long-Term Robot Interaction. In Robotics: Science and Systems (RSS), 2023.
Skeletal Point Representations with Geometric Deep Learning. In IEEE International Symposium on Biomedical Imaging (ISBI), 2023.
NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Hands. In Conference on Robot Learning (CoRL), 2022.
Virtepex: Virtual Remote Tele-Physical Examination System. In ACM SIGCHI Conference on Designing Interactive Systems (DIS), 2022.
Submodular combinatorial information measures with applications in machine learning. In International Conference on Algorithmic Learning Theory (ALT), 2021.
Other Experience
Professional Service:
Reviewer for CoRL, ICRA, IROS, IEEE VR, ACM MM, ICMR, ICHI