Robot demonstrations from my research and lab work.
Two teleoperation setups, back to back. First, a leader–follower rig: the operator moves a pair of Piper leader arms and two follower Pipers mirror them, with the left and right end-effector paths plotted live and a top-down camera inset. Second, VR teleoperation of a UR7e fitted with an Inspire RH5DG2 13-DoF dexterous hand, seen from a third-person camera with the operator’s view inset.
Two Piper arms sorting three cubes onto plates. The overlay shows the natural-language instruction, the program the LLM generated from it, and the per-arm schedule the orchestrator runs. Each arm runs in its own ROS domain under one shared workspace. An LLM turns instructions into a sequential program (Code-as-Policies); rule-based routing assigns arms and inserts arm-to-arm handovers, and orchestration decides what runs in parallel. Because these layers are separate, changing arm count or collision checks leaves the rest untouched.