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suddhu [at] cmu [dot] edu I'm a PhD candidate in the Robotics Institute at Carnegie Mellon University, where I work with Michael Kaess in the Robot Perception Lab. I work on statistical methods for mapping and state-estimation, specifically towards robotic tactile perception. I'm also a visiting researcher at Meta AI, where I work with Mustafa Mukadam. I completed my Masters in Robotics at CMU working with Michael Kaess on visual localization and active exploration for AUVs (thesis). Prior to that, I worked with Red Whittaker on state-estimation for lunar rovers, and spent time at IISc Bangalore working on visual understanding. In my undergrad, I majored in Controls and Instrumentation at NIT Trichy. |
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Updates
[Oct '22] |
Successfully passed my Ph.D. thesis proposal! |
[Sep '22] |
MidasTouch was accepted to CoRL 2022 as an oral. |
[Aug '22] |
We've extended iSDF for neural mapping with the Franka robot, code here. |
[May '22] |
Organized the Debates on the Future of Robotics Research workshop at ICRA '22 |
[April '22] |
Spending the summer at Meta AI with Mustafa Mukadam working on tactile perception/SLAM! |
[Jan '22] |
ShapeMap 3-D was accepted to ICRA 2022, with an open-source implementation. |
Research |
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Tracking the pose distribution of a robot finger on an object surface over time, using surface geometry captured by a tactile sensor
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Can we efficiently reconstruct household objects with touch and vision? We harness the GelSight sensor and a depth-camera for 3-D shape perception, as inference on a spatial graph informed by a Gaussian process.
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Can we estimate object shape and pose in real-time through purely tactile sensing? We demonstrate this for planar pushing, combining Gaussian process implicit surfaces with factor-graph based inference.
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How do you balance volumetric exploration and pose uncertainty in exploration? We combine a sampling-based planner, deformable pose graph, and a 3D saliency metric to explore a 3D underwater volume.
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How can you incorporate refraction into water-to-air visual SLAM? We present a novel method inspired by multimedia photogrammetry for underwater localization.
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What's the ideal sensor suite for underwater dense mapping? We build and demonstrate an inspection solution comprising of a stereo camera, IMU, standard + structured lighting, and depth sensor.
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Annual Meeting of the Lunar Exploration Analysis Group, Nov 2016
Is it possible to track a lunar rover's kinematic state through self-perception? With a downward-facing fisheye lens, we estimate the Autokrawler's kinematics on rugged terrain.
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Can we better understand free-hand sketches through human gaze fixations? We collect the SketchFix-160 dataset and investigate visual saliency to reveal multi-level consistency in sketches.
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Other projects
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Extending iSDF to build real-time neural models of tabletop scenes with the Franka Panda arm
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A deep network that beats humans at GeoGuessr, trained on our 50States10K dataset.
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Hierarchical task and motion planning for a 6-DOF robot arm, to prepare yogurt parfaits!
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Reconstructing thin objects in a scene through an SfM pipeline can be hard!
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We implement a method for estimation of MAV poses and dynamic parameters during flight.
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Last updated: Oct 2022 |