2023
![Screen Shot 2023-06-09 at 22.11.41](https://dkguo.com/wp-content/uploads/2023/06/Screen-Shot-2023-06-09-at-22.11.41.jpeg)
Learning to Manipulate with Scene Graph
May 2023 – Jun 2023, Carnegie Mellon University, Pittsburgh, PA
- Proposed scene graph representation interprets instructional videos as manipulations of object attributes and relationships
- Enable RL agents to learn from a single YouTube video and perform tasks in significantly different environments, showing promising results for real-world applications
2022
Imitation of Pushing from Video Demonstrations
Nov 2022 – Dec 2022, Carnegie Mellon University, Pittsburgh, PA
- Implemented Kalman filter on 6D poses to generate smooth and accurate trajectories of object pushing
- Created methods to search and simulate robot actions that imitate experts’ pushing behaviors
![Screen Shot 2022-11-27 at 01.12.25](https://dkguo.com/wp-content/uploads/2022/11/Screen-Shot-2022-11-27-at-01.12.25.png)
Simulated Kitchen Robot Solving Long-horizon Manipulation Tasks with Short Action Library
Feb 2022 – Apr 2022, Carnegie Mellon University, Pittsburgh, PA
- Proposed a two stage optimization method for learning to solve long-horizon manipulation tasks in a simulated kitchen environment in Mujoco
2021
![Screen Shot 2022-11-27 at 01.10.42](https://dkguo.com/wp-content/uploads/2022/11/Screen-Shot-2022-11-27-at-01.10.42.png)
Impedance Control on Delta Robots
Sep 2021 – Dec 2021, Carnegie Mellon University, Pittsburgh, PA
- Implemented an impedance controller on a robot with delta legs to soften impact on free-falling
Adaptive Gripper for Sorting Electronics Waste
Sep 2021 – Dec 2021, Carnegie Mellon University, Pittsburgh, PA
- Developed an adaptive gripping policy on a direct-driven gripper to pick up devices of different types and sizes
- Implemented kinematics, closed-loop position feedback control, and impedance control on the gripper
![Screen Shot 2021-08-23 at 21.09.36](https://dkguo.com/wp-content/uploads/2021/08/Screen-Shot-2021-08-23-at-21.09.36-e1629767657468.png)
Robot Arm Manipulation from Hand Motion Commands
Jul 2021 – Sep 2021, Carnegie Mellon University, Pittsburgh, PA
Summer Research Intern, Intelligent Control Lab
- Implemented a control interface between the computer vision program and the robot arm hardware
- Conducted real-time demos and experiments that integrate hand motion learning with robot manipulation
![Screen Shot 2021-08-23 at 21.32.00](https://dkguo.com/wp-content/uploads/2021/08/Screen-Shot-2021-08-23-at-21.32.00-e1629768876295.png)
Airborne Object Detection and Tracking Challenge
Jul 2021 – Aug 2021, Carnegie Mellon University, Pittsburgh, PA
Summer Research Intern, AirLab
- Benchmarked state-of-the-art deep learning detection models to select the best ones for the challenge
- Training deep learning models on airborne datasets with MMDetection to detect airplanes and helicopters
![MicrosoftTeams-image-5](https://dkguo.com/wp-content/uploads/2021/08/MicrosoftTeams-image-5-2-scaled-e1629769293690.jpg)
Autonomous Chess-Playing Robot Arm
Jan 2021 – Apr 2021, University of Michigan
Computer Science Capstone Design Project
- Implemented a computer vision program to identify and locate the pieces with cameras
- Developed control and path planning strategies to grab and move the pieces with a desktop robot arm
![Screen Shot 2021-08-24 at 11.09.13](https://dkguo.com/wp-content/uploads/2021/08/Screen-Shot-2021-08-24-at-11.09.13-e1629817876300.png)
MBot Setpoint and Escape Challenge
Jan 2021 – Apr 2021, University of Michigan
EECS 467 Team Projects
2020
Tik Tok Crab Dance Challenge
Nov 2020, University of Michigan
EECS 367 Individual Project
TechLab at MCity: Innoviz LiDAR Data Collection
Jan 2020 – May 2020, Ann Arbor, MI
Software Integration Engineer, TechLab at MCity Program sponsored by Innoviz Technologies
- Predicted the arrival time of autonomous vehicles and pedestrians with LiDAR sensors
- Integrated the prediction into infrastructure communications to optimize traffic efficiency at intersections
![Image 2-15-21 at 17.38](https://dkguo.com/wp-content/uploads/2021/02/Image-2-15-21-at-17.38.jpeg)
Configurable High-Throughput Puncher
Jan 2020 – May 2020, University of Michigan
Mechanical Engineering Capstone Design Project
- Prototyped a mechanical apparatus for high-throughput packaging a stem-cell-based microfluidic platform
- Performed engineering analyses and validation on various design concepts to slump punching cycle time
2019
![IMG_1549](https://dkguo.com/wp-content/uploads/2021/02/IMG_1549.jpeg)
Color Ball Detection and Collection
Jan 2019 – Apr 2019, University of Michigan
ME 350 Team Project
2018
Remote-Controlled Vehicle Competition
Sep 2018 – Dec 2018, University of Michigan
ME 250 Team Project