I am a Ph.D. student in Computer Science at the University of Illinois at Urbana-Champaign. I’m advised by Dr. Girish Chowdhary in the Distributed Autonomous Systems Lab (DASLAB). My research focuses on robot perception and autonomy, with an emphasis on active perception, semantic mapping, 3D reconstruction, and language-guided task planning. I develop AI-driven methods that help robots perceive and reason about complex, unstructured environments under occlusion, sensor noise, and uncertainty. My work combines computer vision, machine learning, and robotics, with applications in agricultural robotics and real-world autonomous systems. I am interested in building robust perception and planning systems that enable robots to operate effectively in challenging real-world environments.
We introduce a novel, modular framework that uses a Visual Language Model (VLM) to guide robotic task planning, interleaving input queries with action primitives. We contribute a comprehensive benchmark for short- and long-horizon crop monitoring tasks in monoculture and polyculture environments.
We present a system that integrates the classical Octomap representation with 3D Gaussian Splatting to enable accurate and efficient target-aware mapping of horticultural environments.
We introduce an efficient and scalable approach for active semantic mapping in horticultural environments, employing a mobile robot manipulator equipped with an RGB-D camera.
We present the TerraSentia Dataset, a comprehensive collection of data for advancing SLAM techniques in agricultural robotics, specifically designed for under-canopy environments.
This paper presents a comprehensive review of the use of unmanned aerial vehicles (UAVs) for crop monitoring, highlighting recent advancements, challenges, and future directions in the field.