Publications
Publications
Robot Skin for All Robots: How Multi-Material Additive Manufacturing Can Reshape the Sensing Landscape of Robotics
Introduces a computational pipeline — the GenTact Toolbox — for generating custom, context-driven whole-body tactile skins tailored to any robot geometry and task. Leverages multi-material 3D printing, procedural Blender-based skin design, and Isaac Sim contact simulation to produce conformable, multimodal sensor skins ready for real-world deployment.
EchoVision: Hybrid NPU-CPU Deployment of EfficientViT-SAM and YOLO for Real-Time Assistive Navigation
Presents EchoVision, a fully edge-deployed auditory navigation aid running YOLOv8n and EfficientViT-SAM on a Raspberry Pi 5 + Hailo-8 NPU. Introduces a hybrid CNN-transformer partitioning strategy and calibration-based dequantization that achieves 19.7 FPS at 13.4ms detection latency — a 30× improvement over the CPU baseline — with >0.97 cosine similarity preserved across the NPU–CPU feature boundary.
Cutting the Cord: System Architecture for Low-Cost, GPU-Accelerated Bimanual Mobile Manipulation
Presents a novel tetherless edge architecture utilizing an NVIDIA Jetson Orin to eliminate real-time latency in bimanual manipulation tasks, enabling fully autonomous onboard policy inference without external server compute.
Talks & Presentations
Generative Models for Robotics — Live VR Teleoperation Demo
Guest lecture featuring a live VR teleoperation demonstration of the XLeRobot-Pro bimanual platform, framing how generative policies meet real hardware constraints in edge-deployed manipulation.
Advancements in Tactile Sensing for Robotics and Humanoids
Regional invited talk bridging lab-level tactile intelligence research — conformable skins, multimodal sensing, edge inference — to the broader AI and robotics community, with a focus on near-term applications in humanoid and assistive robotics.