Shruti Garg

Hello there,

I'm Shruti 👋

I'm a M.Eng student at MIT CSAIL, studying robotic manipulation and motion planning with the Robot Locomotion Group, advised by Russ Tedrake. I love all things robotics, and recently I have found my research focusing on motion planning and control. Previously, I have also interned at NVIDIA and Anduril.

When I'm taking a break from my robots, I enjoy capturing motion in photographs, exploring new places, and eating good food. I hope to have an ongoing collection of my photographs up soon!

Research

Project Image

"Planning Shorter Paths in Graphs of Convex Sets by Undistorting Parametrized Configuration Spaces"

(Under review)
Shruti Garg, Thomas Cohn, Russ Tedrake

[ Preprint ] [ Project Page ]

We study a set of GCS planning domains where the nonconvexity is isolated to the objective function, allowing us to preserve the feasibility guarantees from GCS while improving motion plans. This is especially applicable for parametrizations of configuration space, as demonstrated for bimanual manipulation, planning with rotations and certifiably collision-free planning.




My Robots- Past and Present!

bimanual iiwas

arcturus

blind ur5

segway NVIDIA Nova Carter

simulated Anduril Towers!