Too Much TrashSee the moment
A removable phone harness is designed to capture video from the grabber’s point of view, including the approach to the litter.
EGOCENTRIC DATA CAPTURE & MANIPULATION LAB
The world,
from the
point of action.
Practical tools to capture real-world interactions from the task’s point of view, and turn them into data for robot learning.
PROJECT 001 / TRASH COLLECTION
01 / THE LAB
Real interactions.
A closer view.
We explore how to record physical tasks from the point of action: what a tool sees, how it moves, and what happens when it meets an object.
Our work connects low-cost capture hardware with video review and dataset development for perception and robotic manipulation research.
Explore our first project02 / FIRST PROJECT: TRASH COLLECTION
A grabber. A phone.
A view of every pickup.
We’re developing an inexpensive, 3D-printable phone harness and trigger system for a reacher grabber. An iPhone near the claw is intended to record litter collection while a person uses the grabber and a separate bucket.
Mark the attempt
A mechanical cable is designed to link the squeeze trigger to the phone’s volume button, marking the attempt for later review.
Learn from the result
Deposits, misses, drops, and uncertainty can all inform careful human review.
CURRENT STAGE / PROTOTYPE DEVELOPMENT
From field capture
to training data.
The first project aims to connect pickup video and attempt markers with review, segmentation, classification, and imitation-learning research.
The reacher retrofit is currently a CAD fit prototype. Grip, cable motion, and field performance still need physical validation.
Explore the project