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<!DOCTYPE HTML>
<!--
Spatial by TEMPLATED
templated.co @templatedco
Released for free under the Creative Commons Attribution 3.0 license (templated.co/license)
https://github.com/tgroechel
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<html lang="en" prefix="og: http://ogp.me/ns#">
<head>
<title>Thomas Groechel</title>
<meta property="og:title" content="Tom Groechel's Research Website" />
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<body class="landing">
<!-- Header -->
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<nav id="nav">
<ul>
<li><a href="index.html">Home</a></li>
<li><a href="Groechel_Resume.pdf">Resume</a></li>
<li><a href="publications.html">Publications</a></li>
<li><a href="kin_cur.html">Kinesthetic Curiosity</a></li>
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<li><a href="https://github.com/tgroechel" target="_blank">Github</a></li>
<li><a href="https://www.linkedin.com/in/thomas-groechel-10a5b3b6/" target="_blank">LinkedIn</a></li>
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<img border-radius: 30%; src="images/tom_groechel.jpg" alt="" />
</div>
</div>
<h2>Thomas Groechel</h2>
<p><a href="mailto:[email protected]">Contact</a></p>
<!-- <p>PhD student interested in Virtual, Augmented, Mixed Reality for Socially Assistive
Robotics</p> -->
</section>
<!-- One -->
<section id="one" class="wrapper style1">
<div class="container 75%">
<div class="row 200%">
<div class="6u 12u$(medium)">
<header class="major">
<h2>About</h2>
<p>Dissertation: "On Virtual, Augmented, and Mixed
Reality for Socially Assistive Robotics"</a>.</p>
</header>
</div>
<div class="6u$ 12u$(medium)">
<p>
This website contains information about my research, publications, and projects during my Ph.D. I am now a
fulltime software engineer and am no longer updating this website. The <a
href="./publications.html">publications page</a> is up to date as of 2/9/23 and includes my dissertation.
If you would like to contact me, please email me using the "Contact" link above (I am more than happy to
talk about my research/Ph.D.).
</p>
<p> I successfully defended my dissertation on 2/9/23 and am an incoming remote Ph.D. intern at
iRobot focusing on ROS2 development from February-July 2023. Once my internship is complete, I
am looking for a full-time software development position either based in Chicago or remote +
open to travel. I am interested in software architecture and user experience.
</p>
<p></p>
<p>My background is in software development (C++, C#, Python) focused on robotics (ROS/ROS2/ROS#),
games (Unity), and augmented reality (MRTK, ARKit, ARCore). My core projects are open-source and
include a custom AR visual programming language - MoveToCode - with an autonomous robot tutor that
responds to student curiosity and a learning behavior trees from demonstration pipeline -
RE-BT-Espresso. (<a href="https://github.com/tgroechel">Github</a>)
<ul>
<li><b>Languages:</b> C#, C++, Python, Javascript, R, Bash</li>
<li><b>Tools</b>: Unity, Robot Operating System (ROS), RosSharp (ROS#), Mixed Reality
Toolkit (MRTK), Jupyterlab (pandas, seaborn, sklearn)</li>
</ul>
</p>
<p>
</p>
<p>
For research, I co-authored three funded grants with my Ph.D. advisor Maja Matarić (~$1.55
million total funding), published 20 papers (2 Journal, 9 Conference, 9 Workshop), and mentored
26 Master's, undergraduate, and high school students. These students first-authored 7 papers,
won 7 undergraduate research awards, were nominated for 2 best paper conference awards,
contributed code to our open-source projects, and were co-authors on the majority of my papers.
</p>
</div>
</div>
</div>
<!-- <div style="text-align: center;" class="container">
<iframe width="100%" height="720" src="https://www.youtube.com/embed/6CMuADWboD8">
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<h2>Current Projects</h2>
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<div class="5u 5u">
<div class="image fit captioned">
<img src="images/m2cmobile.gif" alt="" />
<h3><a href="https://github.com/interaction-lab/MoveToCode">MoveToCode pair programming on AR
mobile devices.</a></h3>
</div>
</div>
<div class="5u 5u">
<div class="image fit captioned">
<a href="https://uscinteractionlab.web.app/project?id=nrisvte">
<img src="images/kuri_color.png" alt="" />
</a>
<h3><a href="https://uscinteractionlab.web.app/project?id=nrisvte">Making Robotics Approachable
to the Older Audlts Through AR/VR</a></h3>
</div>
</div>
</div>
</div>
</section> -->
<section id="three" class="wrapper style1">
<div class="container">
<header class="major special">
<h2>Research Work</h2>
<p></p>
</header>
<div class="feature-grid">
<div class="feature">
<div class="image fit"><img src="images/m2cmobile.gif" alt="" /></div>
<div class="content">
<header>
<h4>MoveToCode</h4>
<p>Kinesthetic pair-programming with an autonomous AR robot tutor</p>
</header>
<p>Created a custom AR visual programming language with a robot tutor that responds to student
curiosity. Created for students ages 8-12 and deployed in Los Angeles classrooms.
<a href="publications/MoveToCode.pdf">Publication</a> accepted to Ro-MAN 2023.
</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/navigation_viz.gif" alt="" /></div>
<div class="content">
<header>
<h4>Reimagining RViz</h4>
<p>Multidimensional Augmented Reality Robot Signal Design</p>
</header>
<p>Created AR signal designs looking at interaction effect between individual Virtual Design
Elements. <a href="publications/SVTE_Signal_Design.pdf">Conference paper</a> accepted in <a
href="http://www.ro-man2022.org/">RO-MAN 2022</a>.
</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/gender.png" alt="" /></div>
<div class="content">
<header>
<h4>What and How Are We Reporting in HRI?</h4>
<p>A Review and Recommendations for Reporting Recruitment, Compensation, and Gender</p>
</header>
<p>Undergraduate led work on surveying the state of HRI study meta data reporting for HRI and
Ro-MAN conference papers. First <a href="https://arxiv.org/abs/2201.09114">workshop
paper</a> in <a href="https://workshophrifair.wixsite.com/fair-transparency">HRI
Workshop on Fairness and Transparency in HRI: Algorithms, Methods, and Metrics</a> with
the <a href="publications/ROMAN_Meta.pdf">conference paper</a>
accepted in <a href="http://www.ro-man2022.org/">RO-MAN 2022</a>.</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/posetocode.png" alt="" /></div>
<div class="content">
<header>
<h4>PoseToCode</h4>
<p>Chromebook accessible, pose-based coding.</p>
</header>
<p>Undergraduate led work on having students pose to create code blocks that control a virtual
robot. <a href="">Demo</a>. Paper in <a href="https://www.iaria.org/conferences2022/ACHI22.html">ACHI
2022</a>.</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/ararms_ref.gif" alt="" /></div>
<div class="content">
<header>
<h4>Augmented Reality Appendages for Robots</h4>
<p>Combining Social and Functional Designs</p>
</header>
<p>Undergraduate led work on design considerations for increasing social and functional
perception of AR robot appendages. <a href="publications/appendages.pdf">Paper</a> in <a
href="https://vam-hri.github.io/">VAM-HRI 2022</a>.</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/RE_BT-Espresso.png" alt="" /></div>
<div class="content">
<header>
<h4>Learning Behavior Trees from expert robot demonstrations</h4>
<p>extending the BT-Espresso algorithm.</p>
</header>
<p>Work on exploiting different respresetations of underlying BT structure. <a
href="publications/rebtespresso.pdf">Paper</a> in <a href="https://www.icra2022.org/">ICRA 2022</a>.</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/kiwi.jpg" alt="" /></div>
<div class="content">
<header>
<h4>Robot Tutors for Students with <a
href="https://www.nimh.nih.gov/health/topics/autism-spectrum-disorders-asd/index.shtml">Autism
Spectrum Disorder (ASD)</a></h4>
<p>long-term deployments and modelling.</p>
</header>
<p>Long term work on the <a href="https://uscinteractionlab.web.app/project/expeditions">NSF
Expeditions in Computer: Socially Assitive Robotics</a>. <a
href="https://dl.acm.org/doi/10.1145/3526111">Paper</a> on <a
href="https://dl.acm.org/journal/thri">THRI</a>.</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/helloworld.PNG" alt="" /></div>
<div class="content">
<header>
<h4>Kinesthetic Curiosity: Towards Personalized Embodied Learning with a Robot Tutor
Teaching Programming in Mixed Reality</h4>
<p>for measuring student movement and curiosity.</p>
</header>
<p>Explored measure of student <a href="kin_cur.html">kinesthetic curiosity</a> in pilot study.
<a href="publications/kc.pdf">Paper</a> in <a href="http://iser2020.org/">ISER '20</a>
</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/goodbadpolicy.png" alt="" /></div>
<div class="content">
<header>
<h4>Usability Metrics in Mixed Reality</h4>
<p>for measuring real-time system understanding</p>
</header>
<p>Explored mixed reality data from pilot study of <a
href="https://github.com/interaction-lab/MoveToCode">MoveToCode</a> for correlations
with <a href="https://www.usability.gov/how-to-and-tools/methods/system-usability-scale.html">System
Usability Scale</a> scores. <a href="publications/usability.pdf">Paper</a> in <a
href="https://sites.psu.edu/icsr2020/">ICSR '20</a></p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/telepresence_ui.png" alt="" /></div>
<div class="content">
<header>
<h4>Telepresence UI and Accesibility</h4>
<p>for understanding audio levels</p>
</header>
<p>Deployed telepresence robots with audio level UI. <a
href="publications/telepresence_abstract.pdf">Extended Abstract</a> in <a
href="https://dl.acm.org/doi/proceedings/10.1145/3371382">Companion-HRI '20</a>.
Modelling paper in ICMI 2021.</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/KuriSquareAnim.png" alt="" /></div>
<div class="content">
<header>
<h4>Mixed Reality Robot Extensions and Gestures</h4>
<p>to increase robot social expressivity.</p>
</header>
<p>Created mixed reality arms for more social expression of a robot. <a
href="publications/Using_Socially_Expressive_Mixed_Reality_Arms.pdf">Paper</a> in
proceedings of <a href="https://ro-man2019.org/">RO-MAN 2019</a>. A video of the gestures
can be found <a href="https://www.youtube.com/watch?v=Ff08E9hvvYM">here</a>.</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/TelepresencePersonalized.png" alt="" /></div>
<div class="content">
<header>
<h4>Personalized Telepresence Robots</h4>
<p>to increase embodiment</p>
</header>
<p>Had users personalize telepresence robots in order to observe differences in user interaction
based upon user pair relationships. <a href="publications/personalized_telepresence.pdf">Paper</a> in <a
href="">HRI '20</a>
</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/TRACLabs.jpg" alt="" /></div>
<div class="content">
<header>
<h4>Dyanamic Planning and Navigation</h4>
<p>for navigating to <a href="https://traclabs.com/projects/affordance-templates/">affordance
templates</a>
</p>
</header>
<p>Worked at <a href="www.traclabs.com">TRACLabs</a> implementing a smoothed A-star planner with
a dynamic window low level controller able to replan with dynamic objects. This included
reviving the <a href="https://traclabs.com/projects/rmm/">TRACBot</a> reconfigurable modular
mobile manipulator.</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/bunny.gif" alt="" /></div>
<div class="content">
<header>
<h4>Geometrically Informed Iterative Closest Point (ICP)</h4>
<p>With point filtering</p>
</header>
<p>Looked into different point filtering and methods for a geometrically informed ICP. This also
included creating a web based ICP visualization.</p>
</div>
</div>
<div class="feature">
<div class="image fit"><img src="images/sgd-slam3.gif" alt="" /></div>
<div class="content">
<header>
<h4>Simultaneous Localization and Mapping (SLAM)</h4>
<p>focusing on post processing visualization</p>
</header>
<p>Reimplemented a SLAM post processing method proposed by <a
href="https://scholar.google.com/citations?user=GwtVjKYAAAAJ&hl=en">Edwin Olson</a> in
<a href="https://april.eecs.umich.edu/pdfs/olson2006icra.pdf">Fast Iterative Alignment of
Pose Graphs with Poor Initial Estimates</a>. Tested with the <a
href="https://fetchrobotics.com/">Fetch</a> mobile manipulator.
</p>
</div>
</div>
</div>
</div>
</section>
<section id="mentoring" class="wrapper style2">
<div class="container 75%">
<div class="row 200%">
<div>
<header class="major">
<h2>Prior Mentoring and Outreach</h2>
</header>
<p>
Previously I have overseen <a href="https://www.linkedin.com/in/ipek-goktan-2064961b8/">İpek
Göktan</a>, <a
href="https://www.linkedin.com/in/profile-karenly/?trk=public_profile_similar-profiles_profile-result-card_result-card_full-click">Karen
Ly</a>, <a href="https://www.linkedin.com/in/massimiliano-nigro/?originalSubdomain=it">Massimiliano
Nigro</a>,
Rachel Channell, Evelyn Miguel Vargas, Charles Gary, Dara Macareno,
<a href="https://www.linkedin.com/in/chloe-kuo-057565195/">Chloe
Kuo</a>, <a href="https://www.linkedin.com/in/juliacordero/">Julia Cordero</a>, <a
href="https://www.linkedin.com/in/adamwathieu">Adam Wathieu</a> , <a
href="https://devpost.com/haeminle/achievements">Jenny Lee</a>, <a
href="https://www.linkedin.com/in/nisha-chatwani/">Nisha Chatwani</a>, <a
href="https://www.linkedin.com/in/kberba/">Karen Berba</a>, <a
href="https://www.linkedin.com/in/daniel-ramirez-2001/">Daniel Ramirez</a>, <a
href="https://rads560.github.io/">Radhika Agrawal</a>, <a
href="https://www.linkedin.com/in/kartik-mahajan-36b885117/">Kartik Mahajan</a>, <a
href="https://www.roddurdasgupta.com/">Roddur Dasgupta</a>, <a
href="https://www.linkedin.com/in/roxanna-pakkar-390910126">Roxanna Pakkar</a>, <a
href="https://www.zhonghaoshi.com/">Zhonghao Shi</a>, <a
href="https://www.linkedin.com/in/ryan-stevenson-4ba397133/">Ryan Stevenson</a> and <a
href="https://www.linkedin.com/in/adnan-karim-757b98101/?originalSubdomain=ca">Adnan
Karim</a>. I also have mentored high school students Annika Modi, Jacob Zhi, İpek Göktan,
Mena Hassan, Ashley Perez, and Bryan Pyo as a part of the USC <a>SHINE</a> program.
<p>Outside of lab, I used to help out at <a href="https://cliffordes-lausd-ca.schoolloop.com/">Clifford Street
Elementary School</a>
with their new 5th grade <a href="https://www.vexrobotics.com/">VEX</a> robotics team. I also
was a part of a <a href="https://www.tealsk12.org/">TEALS</a> volunteer team at <a
href="https://www.lacesmagnetschool.org/">LACES Highschool</a> teaching AP Computer Science
for the 2019-2020 school year. I created the <a href="https://us-women-in-robotics-research.github.io/">US
Women in Academic Robotics
Research</a> website. This website is now overseen by Amy O'Connell of the USC Interaction
Lab. If you would like to help out, feel free to directly submit requests to add people via the
website.</p>
</div>
</div>
</div>
</section>
<!-- Three -->
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<header class="major">
<h2>Education</h2>
<p></p>
</header>
<div class="table-wrapper">
<table align="left">
<thead>
<tr>
<th>School</th>
<th>Degree</th>
<th>Started</th>
<th>Completed</th>
</tr>
</thead>
<tbody align="left">
<tr>
<td><img style="vertical-align:middle" src="images/usc-logo2.jpg" alt="" /> University of
Southern California - Los Angeles</td>
<td>Computer Science PhD</td>
<td>2018</td>
<td>2023</td>
</tr>
<tr>
<td><img style="vertical-align:middle" src="images/usc-logo2.jpg" alt="" /> University of
Southern California - Los Angeles</td>
<td>Computer Science Master's</td>
<td>2018</td>
<td>2021</td>
</tr>
<tr>
<td><img style="vertical-align:middle" src="images/block-m-feed.jpg" alt="" /> University of
Michigan - Ann Arbor</td>
<td>Computer Science B.S.E.</td>
<td>2014</td>
<td>2018</td>
</tr>
</table>
</div>
</section>
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<header class="major">
<h2></h2>
<p>If you are interested in getting involved with the <a href="http://robotics.usc.edu/interaction/">
Interaction Lab</a>, please read the current <a
href="http://robotics.usc.edu/interaction/projects/">research</a> before contacting. I am no
longer in the Interaction Lab but am happy to answer questions about how to get involved in the lab!
</p>
</header>
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<li><a href="mailto:[email protected]" class="button special big">Contact</a></li>
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