Research

Projects

My research applies perception and learning to robots with legs and arms. The common thread is affordances: sensing, mapping and modelling where a robot can step, what it can grasp and how it can act, with explicit models of uncertainty, and validating every method on real hardware.

Active

Past & earlier career

Software & resources

• Surface Patch Library (SPL) — open-source C++ library for curved-patch perception of contact surfaces.
• Center-of-mass grasping and PMAT — earlier project pages.
• More code and datasets are linked from individual papers on the publications page.