BAMS
On Designing a Learning Robot
I'm a third-year Robotics Ph.D. student at Georgia Tech advised by Dr. Sehoon Ha and Dr. C. Karen Liu . I am interested in applications of vision-based robot learning in real-world robotics. Currently, I am working on outdoor navigation and environment interaction problems.
We present a learning-oriented morphology optimization framework that accounts for the interplay between the robot's morphology, onboard perception abilities, and their interaction in different tasks. We find that morphologies optimized holistically improve the robot performance by 15-20% on various manipulation tasks, and require 25x less data to match human-expert made morphology performance.
We propose a novel motion control system that allows a human user to operate various motor tasks seamlessly on a quadrupedal robot. Using our system, a user can execute a variety of motor tasks, including standing, sitting, tilting, manipulating, walking, and turning, on simulated and real quadrupeds.
BAMS
On Designing a Learning Robot