Arm locating and pressing an elevator call buttonFull pipeline run, detection through actuation
Built an end-to-end vision-guided pipeline enabling a 7-DoF bimanual robot arm (AgileX Nero ALOHA) to autonomously locate and press elevator call buttons, from RGB-D detection to physical actuation
Developed a real-time 2D button detector with temporal smoothing, then backprojected pixels to 3D using depth and a calibrated camera-to-arm extrinsic transform
Implemented Cartesian motion execution over ROS 2 with TCP-offset calibration and pose-feedback verification; diagnosed and resolved low-level hardware faults (CAN-bus tuning, motor brake-release timing, fault recovery)