Shruti Garg

Hello there,

I'm Shruti 👋

Welcome to my corner of the Internet! 👋

I'm a first year CIS PhD student at UPenn GRASP! Previously, I worked a year at NVIDIA with the Isaac team as a systems SWE, and did my B.S. + M.Eng. at MIT (Class of 24 + 25) I am interested in getting robots to run over long periods of time in settings they may not have seen before.

When I'm taking a break from my robots, I enjoy exploring new places, eating good food and playing tennis.

Research

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

Published in RAL, presented at IROS 2025
Shruti Garg, Thomas Cohn, Russ Tedrake

[ IEEE ] [ 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!