Projects
Embodied ChatGPT
Invited demonstration at MSI Robot Block Party 2023
Embed GPT into a real robot to perform actions according to human commands as well as answer questions about the physical world
Robust to new langauge and new object arrangments
Human Pose Mimicking with Baxter Arms
Invited demonstration at MSI Robot Block Party 2022
Detects human pose with OpenPose
Establishes the mapping between human and Baxter geometries to perform human movements on Baxter
Delicate Manipulation of Egg with Force Control
Robotic Dynamics Course Project at University of Illinois
Implement force control, position control, path planning on robots to go through obstacles and zigzags and finally push the egg on the plate. The program is coded using C++ with ROS environment.
Computer Vision Aided Hanoi Tower
Intro to Robotics Course Project at University of Illinois
Playing the classical 3-layer Hanoi Tower Game using computer vision with forward kinematics. The images are captured by camera on board and are analyzed with color-level segmentation.
Simulated Autonomous Driving
Udacity autonomous Driving Nanodegree
Develop a deep convolutional neural network to output control actions with raw images as inputs. The dataset was collected using the recordings of the expert driving on simulator and specifically designed to recover from off road.