About Our Lab
The Momentum Lab at Carnegie Mellon University's Robotics Institute researches dexterous manipulation, soft robotics, 3D computer vision, and robot learning. We develop methods for in-hand and bimanual manipulation, deformable objects, contact-rich control, and vision foundation models, with applications in healthcare, manufacturing, and everyday assistance.
Research Topics
Dynamic Manipulation
Control and learning methods for high-speed, contact-rich interactions where timing, compliance, and dynamics are critical to task success.
Dexterous Manipulation
In-hand and multi-finger manipulation with precise force/pose control, leveraging tactile, proprioceptive, and vision feedback for robust policies.
Soft Robotics
Design and control of soft end-effectors and compliance-aware planners enabling safe, adaptive interaction with deformable objects and people.
3D Vision Foundation Models
Foundation models for 3D perception and understanding that power scalable recognition, reconstruction, and policy learning in real-world scenes.
Selected Works
Members
Principal Investigator
Jeffrey Ichnowski
Assistant Professor at CMU Robotics Institute
Education:
- • B.A. Computer Science and Asian Studies, University of California at Berkeley
- • Ph.D. Computational Robotics, University of North Carolina at Chapel Hill, 2019
Postdoctoral Training:
Researcher in RISE lab, University of California at Berkeley, 2019-2022
PhD Students
Master Students
Alumni
Aviral Agrawal
Master Student
3D multimodal future with the fusion of 3D representation and Vision Language Models
