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Ego-Pi: Egocentric Human Data for Humanoid Manipulation
2025–Present
Fine-tuning vision-language-action (VLA) models for dexterous humanoid manipulation using aligned egocentric human demonstrations and robot data.
GRaD-Nav-Onboard: Vision-Based Drone Navigation
2025–Present
Vision-only onboard navigation for drones in dynamic environments, integrating efficient perception, velocity estimation, and safety-aware autonomy on embedded platforms.
Safety-Critical Control for Legged Robots (MPC + CBF)
2023
Safety-aware control using Control Barrier Functions integrated with Model Predictive Control (MPC), enabling reliable quadruped navigation under constraints.
Bionic lightweight design of limb leg units for hydraulic quadruped robots by additive manufacturing and topology optimization
2023
We design a bionic lightweight limb leg unit for hydraulic quadruped using topology optimization and additive manufacturing, reduced weight and improved performance.