Projects

ConceptBot

Knowledge-graph-grounded commonsense reasoning for LLM-based robot task planning.

Knowledge Graphs
LLM Planning
Robot Planning

Exoskeleton perception, finite-state assistance, and variable-admittance control architecture

Context-Aware Exoskeleton Assistance

Multimodal perception and adaptive control combining gaze, vision, and physical interaction.

Multimodal perception
Adaptive control

Provenance-aware graph construction, retrieval, and local robot task planning

Graph-Based RAG for Robot Planning

Local, provenance-aware retrieval and knowledge graphs for grounded robot task decomposition.

RAG
Knowledge graphs

Real-robot door opening, sliding contact and insertion with learned compliance

Learning Compliance with Diffusion Policies

Work in progress: learning motion and compliance schedules from demonstrations, with force-aware diffusion policies and velocity-level admittance control.

Diffusion policies
Force sensing
Variable admittance
Work in progress