Bimanual · Imitation Learning

ETH Robotics Club · Robot Learning

Sep 2025 – Jun 2026 · ETH Robotics Club, ETH Hangar, Dübendorf

Freelance/part-time software contributor on the robot learning division at the ETH Robotics Club (Sep 2025 – Jun 2026), working on bimanual manipulation: collision detection, inverse dynamics control, and imitation learning.

ETH Robotics Club bimanual setup folding a towel autonomously

Orca hand mounted on an I²RT YAM Ultra arm at the ETH Hangar — End-effector integration
Mounting Orca hands onto the I²RT YAM Ultra arms for bimanual manipulation.

Close-up of Orca hand attachment on an I²RT YAM Ultra arm — Dual-arm setup
Both I²RT YAM Ultra arms fitted with Orca hands at the ETH Hangar.

Inverse dynamics

Testing sending feed-forward torque and position gains for the inverse dynamics implementation.

ACT policy

I²RT YAM arms ultra towel folding using ACT policy.