RESEARCH & PROJECTS
Ideas into Action.
From multimodal intent understanding and reusable skills to precision manipulation and industrial assembly.
Selected work · Newest first. Explore the full Timeline for all research and projects.
01Research
DR-TSLM
Grounding “this” and “here” in speech and gestures, so robots can identify what to move and where it belongs.
02Official image · IntrinsicIndustry collaboration
Cable Assembly & Contact-Guided Insertion
Robotic cable insertion through visual registration and force feedback, in collaboration with Desay SV Singapore.
03Research & engineering
Vision-Servoed Microdevice Injection
A hardware-agnostic vision-servoed system for automated, precise injection of implantable microdevices.
EARLIER PROJECTS
2017–2022 · From my original site, dated by the original posts. Explore the experiments, videos and project notes.
Research & engineering
Human–Robot Interaction: Proximity & Admittance
Proximity-based slowing and stopping, FCL self-collision checks, and an admittance controller that turns obstacle distance into avoidance motion.
Project & demos
Research & engineering
Human–Robot Interaction: Perception & Handover
Skeleton-based collision avoidance with Nuitrack and MoveIt, GGCNN grasping and handover, and position-based visual servoing on a UR3e.
Project & demosEngineering experience
Internship
Internship experience.
Brief archive entryComputer vision
Semantic Segmentation
An early exploration of semantic segmentation.
Brief archive entryRobotics
Ground-to-Air Robot Coordination
Ground-to-air robot coordination based on visual navigation.
Brief archive entryHuman–machine interaction
Sign Language Translator
An early sign language translation project.
Brief archive entry
Engineering
Hexapod Robot
A Raspberry Pi and STM32 hexapod with 18 servos, ROS interfaces and multimodal sensing for walking, obstacle avoidance and uneven terrain.
Project & demosMachine learning
Deep Reinforcement Learning for Video Games
Deep reinforcement learning for video games; related work published at IEEE ITAIC 2019.
Brief archive entryHuman–machine interaction
EEG-Controlled Teleoperated Car
EEG-based teleoperation with visual signal stimulation.
Brief archive entryEarly project
Book Sharing Tower
Book Sharing Tower, an early project.
Brief archive entry