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2024: Small object manipulation with Densetact 2.0

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  • I collected and organized data of hundreds of RGB-D images and aided in control formulation used by DenseTact 2.0 (an optical tactile sensor modeled after the human fingertip) to categorize screws and other small objects.

  • See the project website here and the paper here. The paper was published in IEEE RA-L and presented at ICRA 2024.

2025: Thin material manipulation with densetact 2.0

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  • I collaborated with two other researchers to:

    • create a dataset for classifying the number of grasped layers of cloth or paper using DenseTact 2.0 sensor data​

    • successfully classify the number of grasped layers using a transformer-based network with inputs optical flow, 6-axis wrench, and gripper joint states

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  • See the project website here and the paper here. The paper was published in and presented at IROS 2025. 

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