Arghya Chatterjee

I am a Ph.D. Student in Intelligent Systems & Robotics at UWF and Research Assistant at IHMC advised by Dr. Robert Griffin. I work at the intersection of AI, robotic perception & autonomy, with a focus on applying foundation models to humanoids for manipulation & navigation in real-world environments. My research areas for humanoids include:

  • Foundation Models for Object Detection & Pose Estimation
  • Physics Engine, Diff. Sim, Rendering of Objects & Robots
  • Learning driven Dexterous Object Manipulation
  • Hierarchical Task and Motion Planning for Manipulation
  • SLAM & Scene Graph for Manipulation & Navigation

At IHMC, I work on advancing both model-based and model-free approaches for humanoid manipulation using Vision-Language-Action (VLA) models, and developing scene knowledge graphs to enable active navigation for autonomous interactive manipulation, indoor building exploration, and outdoor terrestrial as well as space exploration missions.

Before joining IHMC, I worked on the DARPA SubT Challenge with NASA JPL, developing SLAM, object detection, and multi-robot exploration systems for legged, wheeled & aerial robots in underground environments. During my PhD, I interned at NASA JPL, contributing to the DARPA RACER Challenge on augmenting perception sensors for faster traversability estimation and long-horizon planning in an off-road setting with high-speed autonomous rovers for the US Army.

Email: achatterjee [at] ihmc [dot] org
Office: 40S Alcaniz Street, IHMC Robotics Lab, Pensacola, FL 32502, US.

Sponsors

Featured Research

A Behavior Architecture for Fast Humanoid Robot Door Traversals

Duncan Calvert, Luigi Penco, Dexton Anderson, Tomasz Bialek, Arghya Chatterjee, Bhavyansh Mishra, Geoffrey Clark, Sylvain Bertrand, Robert Griffin
RAS 2025
Video  •   Paper  •   Code

An Addendum to NeBula: Toward Extending Team CoSTAR’s Solution to Larger Scale Environments

Benjamin Morrell, Kyohei Otsu, Ali Agha, David Fan, Sung Kim, Muhammad F. Ginting, Xianmei Lei, Jeffrey Edlund, Seyed Fakoorian, Amanda Bouman, Arghya Chatterjee et al
TFR 2024
Website  •   Video  •   Paper  •   Code

Present and Future of SLAM in Extreme Environments: The DARPA SubT Challenge

Kamak Ebadi, Lukas Bernreiter, Harel Biggie, Gavin Catt, Yun Chang, Arghya Chatterjee et al
TRO 2023
Video  •   Paper

LAMP 2.0: A Robust Multi-Robot SLAM System for Operation in Challenging Large-scale Environments

Yun Chang, Kamak Ebadi, Christopher E Denniston, Muhammad Fadhil Ginting, Antoni Rosinol, Andrzej Reinke, Matteo Palieri, Jingnan Shi, Arghya Chatterjee, Benjamin Morrell, Ali-akbar Agha-mohammadi, Luca Carlone
ICRA 2022
Video  •   Paper  •   Code

LOCUS: A Multi-Sensor Lidar-Centric Solution for High-Precision Odometry and 3D Mapping in Real-Time

Matteo Palieri, Benjamin Morrell, Abhishek Thakur, Kamak Ebadi, Jeremy Nash, Arghya Chatterjee, Christoforos Kanellakis, Luca Carlone, Cataldo Guaragnella, Ali-akbar Agha Mohammadi
ICRA 2021
Webpage  •   Video  •   Paper  •   Code

Computational Investigation on Pool Boiling IR Images with Convolutional Neural Networks (CNN)

Arghya Chatterjee
BSc. Thesis 2019
Video  •   Thesis  •   Code

Application of Arduino in Designing Modern Electromechanical Laboratory

Arghya Chatterjee, Musanna Galib, M.A. Rashid Sarkar
ICPCSI 2017
Video  •   Paper  •   Code

Obstacle Detector For Blind People with Low Cost

Arghya Chatterjee, Shantanu Dutta Nitun, Porag Sarker, A. B. M. Alim Al Islam
NSysS 2017
Poster  •   Code

Featured Project

Handler: An End-to-End Tool for Semantic-based Manipulation using Affordance Templates

Arghya Chatterjee, IHMC & BoardWalk Robotics Team
IHMC & Boardwalk Robotics 2024
Website  •   Video

Perception Augmentation for Robust Traversability Estimation of Polaris Rover for DARPA RACER Challenge

Arghya Chatterjee & Shehryar Khattak
NASA JPL & DARPA 2023
Website  •   Video

Waypoint Guided Autonomous Indoor Security Inspection and Outdoor Food Delivery Rovers

Arghya Chatterjee & Lotus Robotics Team
Lotus Robotics 2022
Video  •   Code

ARTag Guided Autonomous Navigation with Astrobee Inside ISS for Kibo Robot Programming Challenge

Arghya Chatterjee & STEM-X 365 Team
JAXA & STEMX-365 2021
Website  •   Video  •   Code

Autonomous GPS guided and GPS denied Waypoint Navigation with Mars Rovers

Arghya Chatterjee & BUET Mars Rover Team
Team Interplanetar 2020
Website  •   Video  •   Code1  •   Code2

Grants & Funding