Hi! I’m a 2nd year PhD student at Stanford University, co-advised by Prof. Monroe Kennedy and Prof. Mac Schwager. I’m a member of the ARM Lab and the Multi-Robot Systems Lab. I’m funded by the National Science Foundation Graduate Research Fellowship and the Stanford Graduate Fellowship.

I want to endow robots with the sense of touch. Centered on theory, learning, and innovative hardware solutions, my research aims to enhance robotic dexterity. By leveraging tactile sensing, we can develop general policies for dexterous manipulation in robots.




🇩🇪 November 2024: I’ll be attending CoRL to present our recent work Splat-Mover.

📚 September 2023: I’m starting my PhD at Stanford University. Excited to work on tactile sensing for robotics.

* denotes equal contribution.


SAFER-Splat: Safety with Control Barrier Functions in Online Gaussian Splatting Maps

Arxiv, 2024.

[paper] [project page] [code]



Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splatting

Arxiv, 2024.

[paper] [project page] [code] [video]



Splat-MOVER: Multi-Stage, Open-Vocabulary Robotic Manipulation via Editable Gaussian Splatting

Conference on Robot Learning (CoRL), 2024.

[paper] [project page] [code]



Touch-GS: Visual-Tactile Supervised 3D Gaussian Splatting

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023.

[paper] [project page] [code] [video]



Safe Drone Flight with Time-varying Backup Controllers

Andrew Singletary, Aiden Swann, Ivan Dario Jimenez Rodriguez, Aaron D Ames

2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2022.

[paper]



Onboard Safety Guarantees for Racing Drones: High-speed Geofencing with Control Barrier Functions

Andrew Singletary, Aiden Swann, Yuxiao Chen, Aaron D Ames

IEEE Robotics and Automation Letters (RA-L), 2022.

[paper] [code]


Caltech GPT

Caltech GPT

A LLM trained on data scraped from caltech.edu domain.

LLM Pytorch GPT
June 30, 2023
Interactive Mandelbrot Set Visualization

Interactive Mandelbrot Set Visualization

An interactive web application that allows users to explore the beautiful and complex world of the Mandelbrot Set.

Fractals Mathematics JavaScript SHTML5 Canvas
March 22, 2023
Making a PCB Business Card

Making a PCB Business Card

I create a RFID scannable PCB business card. Schematics are attached so you can make your own!

Electronics
January 05, 2023
A Mechanical Solution to the Quadratic Equation

A Mechanical Solution to the Quadratic Equation

I create a mechanical slide rule which can geometrically solve the quadratic equation. This is part of a greater push of mine to use physics to solve math. Nature is an incredible calculator that solves NP hard problems in nanoseconds.

Math Solidworks
August 10, 2022
Comparing Methods of Control for the Cartpole

Comparing Methods of Control for the Cartpole

In this project I compare several methods of control for the canonical cartpole system including LQR, energy shaping, MPC, and RL.

Controls Matlab Machine Learning
August 09, 2022
Introduction to Web Development

Introduction to Web Development

I learned basic javascript through an introductory class at Caltech. Here are some of the projects I completed.

Javascript Webdev
August 08, 2022
Euler Project Submissions

Euler Project Submissions

Project Euler is a compilation of mathematical challenge problems that are intended to be solved using a combination of mathematical elimination and computational brute force.

Math Python
August 07, 2022
Physics Simulations in Blender

Physics Simulations in Blender

An important part of scientific communication is creating compelling and aesthetically pleasing visualizations. The goal of this project is to introduce me to blender, which is a professional animating software which I hope to use to create scientific animations. I started my learning process by creating several animation using builtin physics simulations.

Simulation Blender
August 06, 2022
Wankel Rotary Engine

Wankel Rotary Engine

Machined a model Wankel rotary engine as my project in Caltech's CNC machining class ME23. In this class I learned the essentials of CNC machining on Mills and Lathes. We used a Trak CNC mills and Lathes and well as Haas CNC machines. I did all aspects of programming and setup to make each of the parts.

Solidworks CAM Design
June 05, 2022
Control of a Quadrotor

Control of a Quadrotor

Final project of CDS233 nonlinear controls. Development of control algorithms for a planar and full 3D qaudrotor. Starting with feedback linearzation and control Lyapunov functions. Then we implement control saftey functions and backup control barrier function. Finally we demonstrate MPC on both the planar and full 3D quadrotor.

Matlab Controls
June 02, 2022
Dynamics of Planar Quadrotor

Dynamics of Planar Quadrotor

Final project of CDS232 nonlinear dynamics. Analysis of stability of the planar quadrotor system including Liptschitz continuity, Picard iteration, bounds on perturbation, equilibrium points, radius of attraction and safety

Matlab Controls
May 02, 2022
Safe Drone Flight with Time-Varying Backup Controllers

Safe Drone Flight with Time-Varying Backup Controllers

Research conducted in the AMBER lab at Caltech during winter quarter. Extension to research completed over the summer on backup controllers for high speed geofencing. Extends previous work to support multiple agents with multiple backup maneuvers

Matlab Controls Quadrotors Safety Critical Control
May 02, 2022
NASA Big Idea Challenge 2022

NASA Big Idea Challenge 2022

The Caltech AIAA team we received a $140,000 grant for our cable based lunar transportation method. I worked on the autonomy and planning aspects of the project.

Planning Solidworks Python
April 10, 2022
ME72 Design Competition

ME72 Design Competition

Me72 is a two term rigorous team-based engineering design and fabrication challenge. Teams have 6 months to to design, assemble, and evaluate the fidelity and mechanical reliability of their robots. This years challenge is sumo robotics

C++ Robotics Competition Machining
April 02, 2022
SURF 2021 Research. Safety Guarantees for High Speed Drone Flight

SURF 2021 Research. Safety Guarantees for High Speed Drone Flight

Conducted a summer undergraduate research fellowship (SURF) at Caltech for the summer of 2021. Worked closely with Prof Aaron Ames and graduate student Drew Singletary. At the conclusion of the project we wrote a paper which has been submitted to IEEE RA-L journal.

C++ Drones Research Safety
September 12, 2021
Generative ML

Generative ML

Used generative machine learning to investigate new ways of picturing the cosmos. State of the art pretrained models are primed with extraterrestrial keywords which combined multiple aspects of the human relationship with space.

Python Machine Learning
May 03, 2021
Transmission Design Contest (1st Place)

Transmission Design Contest (1st Place)

My group designed an innovative shifting transmission, which won first place in the Caltech ME14 competition.

Solidworks Collaboration
April 03, 2021
Octagon Design Project

Octagon Design Project

Caltech ME14 Octagon design project. A two week design based robotics competition. No designs are constructed.

Solidworks Collaboration
April 02, 2021
S^3 Spectrometer

S^3 Spectrometer

Commissioned to design a webcam spectrometer software for chemistry lab due to pandemic at home conditions

Python WebDev
April 01, 2021
Astrophotography

Astrophotography

Astrophotography photos taken over the years. All taken with a Canon EOS 7D

Photography
August 25, 2020
Digital Photography

Digital Photography

Photos taken with a EOS 7D. Selection of some of my favorites from my instagram.

Photography
August 24, 2020
Film Photography

Film Photography

Film photographs taken with a Pentax ME super found in my basement. Shot with Kodak Gold and HB5plus.

Photography Film
August 24, 2020

Hobbies

Outside of research, I enjoy rock climbing, photography, camping and wood working.

Picture of Aiden climbing at Mickey's beach.
Long exposure of a bottle rocket
Picture of Aiden camping in Badlands national park
Picture of a chessboard I made