Research Group
Sarah Dean's Research Group
- Role: Undergraduate Research Assistant
- Duration: June 2024- Present
- Description:
- Develop atmosnav, a reinforcement learning Python library in Jax for atmospheric agent simulation, rewriting and surpassing a previous C++ engine supported by Enzyme.
- Research on policy bifurcation in atmospheric balloon safe RL-based control
Research Group
Verifiable Robotics Research Group
- Role: Undergraduate Research Assistant
- Duration: Aug 2023- Present
- Description:
- Implement the examples in the project Continuous Execution of High-level Collaborative Tasks for Heterogeneous Robot Teams
- Investigate and implement the application of Robot Synthesis with Büchi automaton on Hello Robot Stretch RE1 and RE2 robots and Kinova 7DOF Gen3 on Boxer
- Implement master-slave architecture in multi-robot communication across robots produced by different companies, including Clearpath Boxer with Kinova Gen3 arm and Hello Robot Stretch RE1 and RE2
- Implement multi-threading properties in multi-tasking of each robot and roslibpy for cross-platform control, and contributed to Hello Robot Stretch open-source code with multi-Stretch set-up
- Set up the user guide of Clearpath Boxer with Kinova Gen3 Arm for the entire lab, including both hardware guidance and ROS library
- Train a multi-object detection model and binary-classification model with YOLO5
Research Group
EmPRISE Lab
- Role: Undergraduate Research Assistant
- Duration: May 2023- May 2024
- Description:
- Core member in the project Preference-Informed Whole-arm Manipulation for Physical Human-Robot Interaction
- Implement Torque Control on RCareWorld, a Unity-based HRI simulator developed by EmPRISE
- Design and build a toy environment with 80/20 for Whole-Arm Manipulation Data Collection and Algorithm Testbed
Project Team
Cornell Cup Robotics
- Role: Minibot | ECE Subteam Member
- Duration: Aug 2021- May 2022
- Description:
- Implement RFID sensor detection and data processing algorithm
- Integrate sensors on the Minibot, including Ultrasonic sensor, RFID sensor, and LiDAR sensor