Maria Bauza, MIT PhD Candidate
I am PhD student at the Massachusetts Institute of Technology (MIT) working with Prof. Alberto Rodriguez.
I develop algorithms that make robots more reactive through accurate feedback. In my work, I have studied both the power of closed-loop control in frictional systems and the capabilities of high-resolution tactile sensing for manipulation tasks, such as grasping and localization. My goal is to make robots highly reactive and dexterous at manipulation by effectively leveraging real-time tactile and visual feedback. MIT News
Here you can find some of my recent projects as PhD, and work that I did during my undergraduate studies.
Tactile Localization and Mapping
Shape reconstruction and object localization using a vision-based tactile sensor, GelSlim.
Tactile regrasping using a high-resolution tactile second to improve grasp stability. Best Poster Award
at ICRA 2018 workshop on Active touch for perception and interaction.
We present a large high-quality on planar pushing that includes RGB-D video and extense object variability.
We explore the data-complexity required for controlling, rather than modeling, planar pushing.
Simulators and Object-Based Networks for Control
We propose a hybrid dynamics model, simulator-augmented interaction networks (SAIN),
combining a physics engine with an object-based neural network for dynamics modeling.
We augment an analytical rigid-body simulator with a neural network that
learns to model uncertainty as residuals. Best Paper Award on Cognitive Robotics at IROS 2018.
With the MIT-Princeton team we developed a robust robotic system for bin picking.
Amazon Robotics Best Systems Paper Award .
We developed the algorithm GP-SUM: a GP-Bayes filter that propagates in time non-Gaussian beliefs.
Characterizing the uncertainty of different pushes allows better action selection.
More than a million datapoints collected on real pusing experiments. Best Paper Finalist Award at IROS 2016 .
A cheap autonomous RC car
Hacking the car's controller, we made it be a self-driving car.
The drawing robot
Our homemade robot can draw an image from the Internet onto any blackboard.