Projects
Task-Agnostic Robot Self-Modeling
A pipeline to reconstruct robot URDFs from 2D video using vision foundation models and 3D reconstruction.
Voxel-Based Soft Robot Co-Design
Two GPU-accelerated frameworks for joint morphology-control co-optimization of voxel-based soft robots.
DriftWorld — World Model Framework for Robot Manipulation
A unified framework comparing four generative architectures (VAE, DDPM, Flow Matching, Drifting Models) for learning robot world models. Flow Matching at 5 Euler steps achieves the best rollout stability.