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I'm a 3rd year undergraduate student at the Massachusetts Institute of Technology and a researcher at the Robot Locomotion Group in the Computer Science and Artificial Intelligence Laboratory.

My research focuses on imitation learning in kinematically-constrained tasks and in motion planning. Prior to joining the Robot Locomotion Group, I completed teleoperation research at the Florida Institute for Human and Machine Cognition.

Outside of academics, I am a member of MIT's varsity volleyball team.

Paper: How Well do Diffusion Policies Learn Kinematic Constraint Manifolds?

Lexi Foland, Thomas Cohn, Adam Wei, Boyuan Chen, and Russ Tedrake.

We collect teleoperation data for a constrained bimanual pick-and-place task. Then, we perturb end-effector poses via a random noising process to generate three additional datasets that still accomplish the task, but contain increasing constraint violations. We train a policy on each of these datasets and analyze task success and constraint adherence. Lastly, we collect demonstrations for the same task on hardware, train a policy, and evaluate its performance on similar metrics.

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Florida Institute for Human and Machine Cognition: Summer Review

Summer Software Engineering Internship at IHMC's Humanoid Robotics Lab

Over the course of 10 weeks, I worked alongside engineers at IHMC to create a teleoperation system for two robotic arms. The teleoperation system relied on markerless motion capture software, in which cameras identify a person's arm and shoulder linkages. Our system sent commands to the robotic arms that mimicked these real-world poses.

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Contact Me

Please reach out via my email, lkfoland@mit.edu. You can also find me on the below platforms!

*Thanks for the illustration: work illustrations by Storyset

*Thanks for the icons: Icons54, on Iconfinder