Welcome to my thesis work for the MSR program at CMU. My research through ZoomLab presents advancements in robotic manipulation through the integration of multi-sensory feedback into assembly tasks. We use Lego building as an example task to study successful strategies in real-world data collection and learned policy deployment.

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A key contribution of this work is the creation of the "Vibro-Tactile Toolbox," a ROS-based software package that employs contact microphones and proprioceptive sensors to enhance the robot’s ability to perceive and respond to tactile feedback during assembly. This toolbox aims to improve the reliability and adaptability of robotic systems in manufacturing and assembly processes by providing real-time feedback on contact and force interactions.

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Our work aims to study how robots may solve challenges in high-mix low-volume manufacturing tasks to reduce costs in domestic manufacturing.