About Me
My research work is focused on robotic manipulation, specifically combining analytical and learned models to achieve human-level dexterity in nonprehensile skills such as poking, tilting, and tossing. I use a combination of machine learning and traditional motion planning along with simulation-based training to achieve this objective. The ultimate goal is to use this hybrid technique to generate a repository of skills that robots can then use to engage in more complex, affordance-informed task planning and manipulation.
I was born in India, grew up in Indonesia, and moved to the US for undergrad (UIUC). I then worked in robotics (San Jose, CA), 3D printing (Cambridge, MA), and mixed reality (Fort Lauderdale, FL) before moving to Boulder for grad school. I enjoy playing snooker, reading non-fiction, and watching Formula 1.
publications
2024 IEEE Transactions on Robotics
2024 40th Anniversary of the IEEE Conference on Robotics and Automation [ICRA@40]
Rotterdam, Netherlands, September 23-26
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS]
Abu Dhabi, UAE, October 14-18
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems [IROS]
Abu Dhabi, UAE, October 14-18
2024 IEEE International Conference on Robotics and Automation [ICRA]
Yokohama, Japan, May 13-17
2022 IEEE Robotics Automation and Letters [RA-L] + ICRA
Philadelphia, PA, U.S.A., May 23-27
2021 IROS 2021 Workshop on Impact-Aware Robotics
Prague, Czech Republic, October 1
education
Aug 2017 - May 2019
University of Colorado Boulder, Boulder, CO, United States
Master of Science in Computer Science
Performed research in robotic manipulation in CAIRO Lab with Bradley Hayes.
Aug 2011 - Dec 2014
University of Illinois at Urbana-Champaign, Champaign, IL, United States
Bachelor of Science in Computer Engineering
For our senior design project, my team and I designed and tested the central PCB for a CubeSat that was launched in May 2015.
experience
Jun 2019 - Present
Boulder, CO, United States
Graduate Research Assistant
University of Colorado Boulder
Performing robotics research in HIRO lab focusing on model-based approaches to dexterous manipulation. Also mentoring undergraduate students.
Nov 2015 - Feb 2017
Dania Beach, FL, United States
Software Developer
Magic Leap
Developed a model-free camera calibration technique in C++.
Feb 2015 - Apr 2015
San Jose, CA, United States
Software Intern
Fetch Robotics
Implemented a recovery behavior plugin for the ROS navigation stack in C++.
May 2013 - Jul 2013
Singapore, Singapore
Research Intern
National University of Singapore
Developed a non-realtime Linux application to generate 3D models of objects using the Microsoft Kinect sensor and the Point Cloud Library.
current projects
Aug 2019 - Present
Boulder, CO, United States
Automated data collection for camera-to-robot calibration
University of Colorado Boulder
Mentoring Ella Sarder, Junior in CS.
Aug 2019 - Present
Boulder, CO, United States
Grasping neural network from the TossingBot paper
University of Colorado Boulder
Mentoring Ella Sarder, Junior in CS.
Aug 2019 - Present
Boulder, CO, United States
Learning-based approach for contour extraction
University of Colorado Boulder
Mentoring Jacob Fiola, Senior in CS.
Aug 2019 - Present
Boulder, CO, United States
Repurposing IKFast for use with Sawyer and Panda
University of Colorado Boulder
My side project.
Jan 2019 - Present
Boulder, CO, United States
Analytical pushing model
University of Colorado Boulder
Mentoring Kyle Yamek, Senior in Engineering Physics and CS.
service
Reviewer
- IROS/IEEE RA-L (2019)
miscellanea
Aug 2019 - Present
Boulder, CO, United States
Teaching Assistant
University of Colorado Boulder
I am a teaching assistant for CSCI 1300: Introduction to Computer Science, a class that covers the basics of computer programming using C++.