PokeSDF: A Unified Multi-Modal Representation for Deformable Objects

Semester Project, SRL Lab, ETH Zürich · Nov 2024 – Feb 2025

Built an SDF-based 3D reconstruction pipeline that fuses vision, force, and end-effector pose to infer object deformation from poking interactions, without needing an object template.
Performed hand-eye calibration to register the camera frame to the robot’s end-effector for accurate multi-modal fusion.