Publications

Machine Learning Driven Multimodal Control for Human-Robot Interaction

PhD thesis, University of Brighton

Real-Time HRI: Human Hand Gesture Mapping for 7-DoF Robotic Arm Operation

Concurrency and Computation: Practice and Experience · Vol. 38, Issue 6, e70643 · Open access

AI-RTGM: an end-to-end framework that couples CNN-based gesture recognition (GESTID) with trajectory generation and execution (TAGEM) for real-time task control of a 7-DoF manipulator.

Robotics in Agriculture: A Comprehensive Review of Autonomous Systems, Algorithms, and Applications for Smart Farming

Working paper

A Dissection of Factors Influencing Face Recognition Technologies

SAFER-TEA 2024 — 2nd EAI International Conference on Safe, Secure, Ethical, Responsible Technologies and Emerging Applications · Springer LNICST, pp. 201–218

Integration of Multilingual NLP with 7-DOF Robotic Manipulation for Enhanced Domestic Task Automation

IEEE International Conference on Advanced Robotics and Mechatronics (ICARM 2025) · IEEE ICARM 2025 · pp. 452–457 · Portsmouth, UK

GPT-4-based few-shot prompting converts English and German instructions into robot commands for beverage preparation on a Franka Emika Panda — 83% overall task accuracy, with a 3% gap between languages.

A Review of Advances in Large Language and Vision Models for Robotic Manipulation: Techniques, Integrations, and Challenges

SN Computer Science · Vol. 6, Article 588 · Springer Nature

A review of how transformer-based language and vision models are being integrated with robot control for task planning, decision-making and adaptive manipulation, and where they still fall short.

A Robust and Energy-Efficient Trajectory Planning Framework for High-Degree-of-Freedom Robots

First German Robotics Conference, Nuremberg · Peer-reviewed conference abstract · full text on arXiv

Sinusoidal trajectory generation with velocity scaling to reduce energy use while keeping motion smooth and accurate, evaluated on a 7-DoF arm in PyBullet.

Hybrid Framework for Robotic Manipulation: Integrating Reinforcement Learning and Large Language Models

IEEE International Conference on Emerging Technologies and Innovation for Sustainability (EmergIN 2025) · IEEE EmergIN 2025 · pp. 886–890

LLM-based task planning on top of RL-based low-level control (PPO/SAC), evaluated in PyBullet with a simulated Franka Emika Panda.

Gesture Based Manipulation of 7 DoF Robotic Arm for Multistep End Task

ICRA@40 — 40th Anniversary of the IEEE Conference on Robotics and Automation · Rotterdam, Netherlands, 23–26 September 2024 · peer-reviewed

Advancements in Gesture Recognition Techniques and Machine Learning for Enhanced Human-Robot Interaction: A Comprehensive Review

arXiv preprint · arXiv:2409.06503 [cs.RO]

Mathematical Modeling of Four Finger Robotic Grippers

arXiv preprint · arXiv:2409.06419 · work from Jamia Millia Islamia

Simulation and Optimization of Computed Torque Control 3 DOF RRR Manipulator Using MATLAB

arXiv preprint · arXiv:2409.04785