CS449/599 — Learning for Robotics

Each semester, students put together a final project using the tools introduced in this course. The examples shown below represent a small, curated sample that captures the diversity of approaches explored.

Fall 2024

  • Tower Builder Robot — Muhammet Hikmet Simsir, Giray Akyol [demo]
    Constructing tall and stable structures through sequential robotic manipulation using optimization-based planning that combines nonlinear programming with heuristic configuration search.
  • Robotic Throwing and Catching via Trajectory Optimization and RRT — Tuna Saygin, Muhammad Shayan Usman, Betul Dogrul [demo]
    Developing an optimization-based robotic system that accurately throws objects into dynamically placed bins by combining trajectory optimization with RRT-based path planning.
  • Target Object Retrieval from Cluttered Environments — Ozan Oğuztüzün, Görkem Salman [demo]
    Retrieving a target object from densely cluttered environments using a perception-driven manipulation pipeline. A multi-camera RGB-D system constructs a unified 3D point cloud, which is segmented and analyzed to prioritize object removal based on stability and hierarchy, enabling efficient grasping and placement through motion optimization.