The research conducted in my lab (established in August 2022) focuses on developing safety, control, estimation and learning algorithms for collaborative human-aware robotic systems: robots that can safely and efficiently interact and physically collaborate with humans and other robots in the human-centric dynamic spaces we inhabit.
This involves research at the intersection of machine learning, control theory, artificial intelligence, perception, and psychology - with a physical human-robot interaction perspective.
Enrico Martini (Visiting CIS PhD student from University of Verona, Italy; real-time constraint-aware 3D human pose tracking, advised by Nicola Bombieri)
Master Student Researchers
Ho Jin Choi (MEAM ‘24; MS Thesis on "Visuo-tactile Active Exploration", additional work on dynamic grasping, active mapping and eeg-based control co-advised by Ruzena Bajcsy)
Haihui Gao (MEAM/ESE ‘24; MS Thesis on "Learning Second Order Dynamical System Motion Policies")
Shaoting Peng(ROBO ‘24; object permanence filter for robust tracking, eeg-based control co-advised by Ruzena Bajcsy)
Satyajeet Das (ESE ‘24; MS Thesis on "Dynamic Signed Distance Functions for Real-Time Control", additional work on eeg-based control co-advised by Ruzena Bajcsy)
Zhiquan Zhang (ESE ‘24; MS Thesis on "Real-Time Safety-Critical Passive Torque Control with Learning-based Constraints")
Haoming Li (ESE ‘24; MS Thesis on "Lipschitz Continuity of Neural Network based Signed Distance Functions")
Parth Sanghavi (MEAM ‘24; Independent Study on "Accelerated 6D Object Pose Estimation")
Lance Tan (DATS ‘24; Independent Study on "Learning Kinematic to Dynamic Constraint Mapping Functions")
George Gao (ROBO ‘25; Independent Study on "Learning Safe Dynamical Systems with Diffusion")
Paul (Sanhyub) Lee (ROBO ‘25; Independent Study on "Real-time Force Prediction with Wearable Ultrasonic Sensors")
Research Engineers
Harshil Parekh (ROBO ‘23; integration of perception with reactive control)
Sunan Sun (ROBO ‘23; statistics, learning, non-Euclidean geometry)
[May 2022] I'll have a very busy week at ICRA 2022 (in Philly!) organizing workshops, chairing sessions, networking events and demos! See upcoming events above. .
[July 2021] Our work on provably safe and efficient motion planning with uncertain human dynamics [assisted dressing] (led by Shen Li) will be presented at RSS 2021!
[Mar. 2021] Our work on understanding robot controllers via sampling (led by Yilun Zhou and Serena Booth) got a shoutout in the MIT News!
[Feb. 2020] I was a finalist for the prestigious Georges Giralt PhD award for the best doctoral thesis in robotics in Europe in 2020. The award ceremony (see pic) was held Malaga (Spain) during the ERF 2020 Forum
[May 2019] At ICRA 2019 I gave a tutorial on "Dynamical System-based Learning from Demonstration". Together with my PhD advisor and colleagues we will present the DS-learning methods developed in the lab and how to use them for different applications.
[Dec. 2019] Finalist for the EPFL Doctoral Program distinction . This distinction is granted to a selection of very high quality theses, in order to highlight the doctoral candidates’ research work and their scientific merit.
[Sept. 2019] Nominated for the Asea Brown Boveri (ABB) Ltd. Award . The prize is awarded for particularly excellent master’s and/or doctoral work in the fields of energy/information/automation technology.
[HRI 2016] Selected as a Human-Robot Interaction Pioneer for the HRI Pioneers workshop which identifies and empowers the world’s top student researchers early in their careers.