Projects

A few robotics and machine learning projects I've worked on.

Spotty: Language-Guided Semantic Navigation for Spot

A voice-controlled interface that grounds natural-language commands in a semantic spatial memory, letting Boston Dynamics' Spot navigate by meaning ("go to the kitchen", "find the coffee machine") rather than coordinates.

Model-based RL + intrinsic motivation for TriFinger robot

How difficult is it to train a robot to learn manipulation skills in the real world?

Tactile Sensing with DIGIT

What sensory feedback can be extracted from off-the-shelf vision-based tactile sensors?

Learning Gait Using a Neuromusculoskeletal Model and Imitation Learning

Can we learn natural looking humanoid locomotion skills with reinforcement learning?