Harsh Muriki
I am a PhD student in Robotics at Georgia Tech advised by Dr. Sonia Chernova, where I focus on Task and Motion Planning (TAMP) using VLMs. Currently interning at Amazon Lab 126 (Fauna Robotics) in San Jose, CA.
✉️ [email protected]
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
Research Projects
Task and Motion Planning (TAMP) for Households
Working on replanning strategies in TAMP + households domains using VLAs and VLMs for high-level planning.
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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
Collected the largest hyperspectral lettuce dataset and trained vision-transformer models to predict nutrient content and growth.
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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
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
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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