Publications
Towards Accessible Robot Control: Comparing Kinesthetic Teaching, SpaceMouse Teleoperation, and a Mixed Reality Interface
arXiv, January 2026
The Role of Consequential and Functional Sound in Human-Robot Interaction: Toward Audio Augmented Reality Interfaces
Arxiv, December 2025
🍓 DexFruit: Dexterous Manipulation and Gaussian Splatting Inspection of Fruit
IEEE Robotics and Automation Letters (RA-L), December 2025
TensorTouch: Calibration of Tactile Sensors for High Resolution Stress Tensor and Deformation for Dexterous Manipulation
Arxiv, June 2025
Diffusion-SAFE: Shared Autonomy Framework with Diffusion for Safe Human-to-Robot Driving Handover
Arxiv, May 2025
J-PARSE: Jacobian-based Projection Algorithm for Resolving Singularities Effectively in Inverse Kinematic Control of Serial Manipulators
Arxiv, May 2025
A Control Barrier Function for Safe Navigation with Online Gaussian Splatting Maps
International Conference on Robotics and Automation (ICRA), May 2025
Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splatting
International Conference on Robotics and Automation (ICRA), January 2025
ProACT: An Augmented Reality Testbed for Intelligent Prosthetic Arms
IEEE Transactions on Neural Systems and Rehabilitation Engineering, January 2025
Localization of Vibrotactile Stimuli on the Face
Arxiv, Febuary 2025
Facial Haptic Feedback for Robotic Prostheses
Converging Clinical and Engineering Research on Neurorehabilitation V, December 2024
Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October 2024
Understanding and Imitating Human-Robot Motion with Restricted Visual Fields
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025, September 2024
Dynamic Layer Detection of Thin Materials using DenseTact Optical Tactile Sensors
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2025, October 2025
Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting
CoRL, September 2024
DenseTact-Mini: An Optical Tactile Sensor for Grasping Multi-Scale Objects From Flat Surfaces
International Conference on Robotics and Automation (ICRA), May 2024
Embedded Object Detection and Mapping in Soft Materials Using Optical Tactile Sensing
SN Computer Science, March 2024
EgoNav: Egocentric Scene-aware Human Trajectory Prediction
arXiv, March 2024
Inter-finger Small Object Manipulation With DenseTact Optical Tactile Sensor
IEEE Robotics and Automation Letters, November 2023
The role of collaborative robotics in assistive and rehabilitation applications
Science Robotics, October 2023
Diffusion Co-Policy for Synergistic Human-Robot Collaborative Tasks
IEEE Robotics and Automation Letters, November 2023
Considerations for the Control Design of Augmentative Robots
arXiv, October 2023
It Takes Two: Learning to Plan for Human-Robot Cooperative Carrying
2023 IEEE International Conference on Robotics and Automation (ICRA), May 2023
Trajectory and Sway Prediction Towards Fall Prevention
2023 IEEE International Conference on Robotics and Automation (ICRA), May 2023
DenseTact 2.0: Optical Tactile Sensor for Shape and Force Reconstruction
2023 IEEE International Conference on Robotics and Automation (ICRA), May 2023
DenseTact: Optical Tactile Sensor for Dense Shape Reconstruction
International Conference on Robotics and Automation (ICRA), May 2022
Replay Overshooting: Learning Stochastic Latent Dynamics with the Extended Kalman Filter
2021 IEEE International Conference on Robotics and Automation (ICRA), May 2021
Recent Development in Human Motion and Gait Prediction
RSS 2020 Workshop RobRetro, June 2020
Modeling And Control For Robotic Assistants: Single And Multi-Robot Manipulation
University of Pennsylvania, May 2019