Research

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

IEEE International Conference on Robotics and Automation, ICRA 2025, Atlanta, GA.

(Oral Presentation)

/ Paper / Website

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

IEEE International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, UAE.

(Oral Presentation)

/ Paper / Website

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

IEEE International Conference on Intelligent Robots and Systems, IROS 2024, Abu Dhabi, UAE. / Paper / Website

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

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

Conference on Robot Learning, CoRL 2021, London / arXiv / Video