Projects

Retriever is an open-source Python programming model and runtime for robot agents whose perception, planning, learned skills, and control run at different rates. It makes timing and data handoff explicit in the agent graph, supporting deployment, step-by-step debugging, and deterministic replay.

We present PartNet: a consistent, large-scale dataset of 3D objects annotated with fine-grained, instance-level, and hierarchical 3D part information. I worked with Kaichun and Shilin on preparing the annotation system, part hierarchy templates, objects, etc in Jan 2018 through July 2018 and was listed in special acknowledgement.