Projects
Tactile sensing, robot learning, and tools for working with robots.
I build sensors and systems that help robots understand contact and use it during manipulation. Browse the research below, watch a demonstration, or explore the public code. Project pages describe the methods, results, and current stage of each effort.
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Research
Sensors, contact, and learning
Tailorable Force-Sensing Skins
Textile and additive-manufactured sensing layers for whole-arm contact; accepted at IROS 2026.
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MagPie Tactile Skin
A modular magnetic and piezoresistive skin developed with Breck School students; an IROS 2026 workshop spotlight.
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AugInsert
Data augmentation for robust visual-force policies in contact-rich assembly (IROS 2025).
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Contact-Aware Manipulation
Exploring inverse kinematics and whole-body strategies that respond to contact along a robot's body.
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Remote Stroke Intervention Robotics
Telerobotic guidewires, vascular path planning, and learning data from a University of Minnesota–Medtronic collaboration.
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Robot-Wide Tactile Skin Design
Procedural CAD for layered sensing shells over UR5e, Spot, and G1 link geometry.
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G1 Locomotion and Whole-Body Learning
Simulation studies of humanoid walking, supported pickup, and large-object enclosure.
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Tactile Materials and Conformal Interfaces
Experimental sensor coupons and connected laminate patterns for surfaces that must bend around a robot.
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Visual Futures for Manipulation
Exploring whether generated future video can guide robot actions, and where visual plans fall short.
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Teleoperation, spatial computing, and coordination
SPARK-Remote
An accessible remote bimanual teleoperation system for the RPM Lab's dual-arm platform (ICRA 2025 workshop).
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Talk Through It
End-user-directed robot manipulation learning through interactive feedback (RA-L 2024).
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Quest Room Mapping
A mixed-reality room mapper with measured geometry and progressive object reconstruction from Quest observations.
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SpotNLP
A natural-language and gesture interface for Boston Dynamics Spot, with human following and semantic navigation demos.
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Vision-Guided UR5 Manipulation
An exploratory blue-marker pickup on the physical Thunder UR5e using wrist-camera observations.
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ALEM Multi-Agent Coordination
Experiments on communication, specialization, and leadership in a shared multi-agent world.
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