I am a PhD Candidate in the Siebel School of Computing and Data Science at the University of Illinois Urbana-Champaign. I am advised by Dr. Girish Chowdhary in the Distributed Autonomous Systems Laboratory (DASLAB). I also collaborate with researchers in the Monolithic Systems Lab as well as with researchers at Iowa State University as a part of the COntext-Aware LEarning for Sustainable CybEr-agricultural (COALESCE) program.
Our results showcase significant improvements in control speed while effectively controlling both the position and orientation of the end effector compared to previous quasi-static controllers for hybrid arms.
We propose a novel codesigned framework incorporating a global detection camera and a local eye-in-hand camera that demonstrates precise localization of small fruits via closed-loop visual feedback and reliable error handling.
We introduce an efficient and scalable approach for active semantic mapping in horticultural environments, employing a mobile robot manipulator equipped with an RGB-D camera.
This paper delves into the potential of deep reinforcement learning (RL) executed within a distinct environment characterized by a tree-structured hierarchical action space.
As the need for efficient manipulation in cluttered and unstructured environments continues to grow, driven by its relevance across various sectors, including agriculture, this study introduces a novel approach to visual servoing for hybrid manipulators with complex internal dynamics.