Harsh Muriki

I am a BS/MS student in Robotics at Georgia Tech advised by Dr. Sonia Chernova , where I focus on Task and Motion Planning (TAMP) using VLMs. I am also working as a Graduate Teaching Assistant for CS 3630. Previously, I worked as a GRA with Dr. Yongsheng Chen on deep learning and computer vision in AgTech.
✉️ vmuriki3@gatech.edu

Research Interest: Task and Motion Planning (TAMP), Long-Horizon Mobile Manipulation, Large Vision-Language Models for Robotics, Embodied AI, Learning-Based Robotic Planning, Agricultural Robotics

Publications

A hybrid cable-driven robot for non-destructive leafy plant monitoring and mass estimation using structure from motion

G. Chen, H. Muriki, C. Pradalier, Y. Chen, and F. Dellaert

2023 IEEE International Conference on Robotics and Automation (ICRA) in London, UK

PDFVideoPoster

Integrating ORB-SLAM2 and Khronos for Real-Time Object-Aware Semantic Mapping with Mobile Manipulators

H. Muriki, N. Nguyen, R. Rustagi, M. Patel, K. Ramachandruni, and S. Chernova

Hello-Robot Newsletter April 2025

LinkGithub

Robotic Phenotyping for Small-Scale Urban Farms

H. Muriki, R. Teo, V. Sengupta, and A. Hu

2025 IEEE International Conference on Robotics and Automation (ICRA) in Atlanta, USA

PDFGithubLink

A Proof-of-Concept for Non-Destructive Lettuce Nutrient Assessment Using Vision Transformers and Residual Networks on Raw Hyperspectral Imagery

A. Cohen, H. Muriki, Z. Qin, Y. Sun, L. Gan, and Y. Chen

Smart Agricultural Technology 2025

LinkPDF
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Research Projects

Semantic Proactive Assistance for Households

Semantic Proactive Assistance for Households

3-D Spatio-Temporal mapping with Hello-Robot-Stretch to understand and track dynamic indoor environments.

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Deep-Learning-Driven Lettuce Analysis

Deep-Learning-Driven Lettuce Analysis

Collected the largest hyperspectral lettuce dataset and trained vision-transformer models to predict nutrient content and growth.

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Robotic Phenotyping for Small Scale Urban Farms

Robotic Phenotyping for Small Scale Urban Farms

3D Point-cloud processing and pose-estimation pipelines for accurate plant monitoring and robotic pollination.

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Course Projects

IRL Project: HINTeract-Hint-Driven Hierarchical Learning for Robotic Furniture Assembly

IRL Project: HINTeract-Hint-Driven Hierarchical Learning for Robotic Furniture Assembly

Built a modular HRL framework where a Sawyer arm requests on-demand human hints to grasp, align, and insert parts, achieving sample-efficient toy-table assembly in Robosuite with 260 expert demos and open-sourced code.

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MRS Project: CableCrop RL-Multi-Cable Robot Planning for Agricultural Data Capture

MRS Project: CableCrop RL-Multi-Cable Robot Planning for Agricultural Data Capture

Designed a coordinated RGB+hyperspectral cable-robot pair and trained PPO/MAPPO agents in simulation to maximize crop coverage and data richness while dodging collisions for scalable precision-ag monitoring.

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HRI Project: LM-NavGrasp-Language-Guided Navigation & Grasping on Hello Robot Stretch

HRI Project: LM-NavGrasp-Language-Guided Navigation & Grasping on Hello Robot Stretch

Developed a pipeline that fuses large vision-language models (CLIP + SAM) with ROS-Nav so Stretch can parse a natural-language object description, autonomously navigate to the correct table, and execute a grasp on the specified item in cluttered lab scenes.

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Education

🐸  is at  Georgia Institute Of Technology (BS in Computer Science & MS in Computational Perception and Robotics at Atlanta, GA)