Projects at MIT:

surfelwarp: 3D dynamic reconstruction in real-time. Code for RSS18 paper.

kPAM: Generalizable, dexterous robotic manipulation. Code for ISRR19 paper.

poser: Geometric pose estimation pipeline. Code for CVPR19 paper.

s2o: Framework for sequential, optimization-based planning and control.

Projects at Mech-Mind Robotics:

yaik: Automatic generation of analytical inverse kinematics for robot manipulators.

mind-fcl: A refactorization and re-write of fcl. Contains code for IROS24 paper.

multibody: Kinematics and dynamics computations of multi-body systems for planning && control.