Projects

Research projects in Robotics (perception, planning, and control) and HRI for assistive technology.

Assistive Robotics for the Blind & Low-Vision People

GuideNav

GuideNav: Vision-Only Long-Range Route Following 🏆

Robust visual teach-and-repeat for kilometer-scale route following using only images.
Handler–guide dog interactions: harness instruction, indoor guidance, stairs, blindfold training, outdoor navigation, and shopping

GuideData: Handler-Guide Dog Interaction Dataset 🏆

A dataset capturing interactions between handlers and guide dogs for guide dog robot design implications.
GuideTWSI

GuideTWSI: Stopping at Tactile Pavings 🏆

Synthetic TWSI data generation for tactile paving segmentation and stopping.
Quiet and Stable Locomotion Control

Quiet and Stable Locomotion Control

Stable and low-noise locomotion controller for quiet walking and smooth stair climbing.
System Integration & Obstacle Avoidance

System Integration & Obstacle Avoidance

Guide dog robot configuration and semantics-aware local path planning.
NavAble: nine accessibility objects in simulated environments

NavAble: Dataset for Blind Navigation

Large-scale real and synthetic data for accessibility-object perception and blind navigation.
SToP Dataset

The Synthetic Tactile-on-Paving (SToP) Dataset

Unreal Engine-based synthetic data augmentation for tactile paving detection.

Competitions

CYBATHLON Vision Assistance Race 2023

CYBATHLON Vision Assistance Race 2023

Solving real-world problems for blind and low-vision people.

Other Research

Event Cameras for Dynamic Obstacle Avoidance

Event Cameras for Dynamic Obstacle Avoidance

Highly dynamic obstacle detection using event cameras.
ElderSim

ElderSim

A synthetic data generation platform for human action recognition in eldercare applications.

Selected Press Coverage