Research

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POGS: Persistent Object Gaussian Splat for Tracking Human and Robot Manipulation of Irregularly Shaped Objects

Justin Yu*, Kush Hari*, Karim El-Refai*, Arnav Dalal, Justin Kerr, Chung Min Kim, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg

Under Review for 2025 IEEE International Conference on Robotics and Automation (ICRA), Atlanta, GA. / Website (WIP)

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LEGS: Incrementally Building Room-Scale Language-Embedded Gaussian Splats with a Mobile Robot

Justin Yu*, Kush Hari*, Kishore Srinivas*, Karim El-Refai, Adam Rashid, Chung Min Kim, Justin Kerr, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg

IROS 2024, Abu Dhabi / Paper / Website

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MANIP: Integrating Interactive Perception into Long-Horizon Robot Manipulation Systems

Justin Yu*, Tara Sadjadpour* Abby O’Neill, Mehdi Khfifi, Lawrence Yunliang Chen, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg

IROS 2024, Abu Dhabi / Paper / Website

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Legged Robot State Estimation using Invariant Kalman Filtering and Learned Contact Events

Tzu-Yuan Lin, Ray Zhang, Justin Yu, Maani Ghaffari

CoRL 2021, London / A arXiv / Video