Welcome to my research projects page. Below is a summary of my current and past research initiatives. Click on each project for more detailed information.
1. Dynamical Systems for Motion Learning
In this collection of projects, dynamical systems are shaped using imitation learning to model robot motions. Various inductive biases are designed and incorporated into these systems based on prior knowledge of their behavior. The exploration and exploitation of systems with a single global attractor, multiple attractors, region avoidance, evolution in non-Euclidean geometries, and cyclical behaviors are examined in the context of robotics.
2. Large-Scale Task Planning
This project explores combining environmental knowledge with the commonsense knowledge encoded in large language models (LLMs) to reduce the search space in task planning problems. This approach is particularly useful in large-scale settings, as it enables the selection of a relevant set of objects over which the planning problem is addressed.
3. Interactive Imitation Learning
This collection of projects brings together multiple works on interactive imitation learning, where robot policies are learned from online human feedback. This approach not only enhances ease of use but also improves data efficiency, making robots more adaptable to both dynamic and unstructured environments.
4. KUKA iiwa Research Library
This project involved developing an easy-to-use and customizable robotic control framework, primarily employed with KUKA iiwa robots but adaptable for use with any manipulator. The framework serves as the foundation for multiple research projects and introduced master students to robotic control systems.
Every project on this website involving KUKA iiwa robots was built upon this framework.
5. UChile Robotics Team
This section contains some of the projects I was involved in during my time as a member of the UChile Robotics Team, where we participated multiple times in the Robocup Standard Platform League, a humanoid robot football competition.
