Featured projects
Visual-SLAM
LiDAR-SLAM
High-Level controls
Navigation
Jetson
C++
ROS2
Point cloud library
Collaborative Quadruped Fleet.
System of multiple quadrupeds capable of autonomously exploring and mapping unknown regions.
ROS2
Computer Vision
Perception
C++
Bio-inspired Underwater ROV.
Developing a system for rovers to follow a prey underwater, using the sensory information of a seal whisker-like structure.
ROS2
Move Group API
Computer Vision
Robotic Manipulation
Python
Mini Golf using Franka arm.
A mini golf game where the Franka arm is programmed to plan trajectory to hit the ball into the detected hole.
Projects
Deep Reinforcement Learning
DDPG
Unity ML Agents
Multi-Agent Systems
Python
Numpy
Dual Player Table Tennis.
Traning two RL Agents to collaborate with each other in a game of table tennis to optimize the game time, while competing to win.
OpenCV
Robotic Manipulation
Computer Vision
Python
Pen Grasping Challenge.
PincherX100 Arm programmed to detect, calibrate, manipulate and grasp a pen using OpenCV and depth sensing via Intel RealSense D435i.
MARL
Stable Baselines3
PyTorch
PPO
Bee Dance Swarm Intelligence.
Waggle dance communication of bee swams for optimal nectar collection using Mutli-Agent Reinforcement Learning.
Deep Reinforcement Learning
DDPG
Unity ML Agents
Python
Numpy
Deep RL Based Arm Control.
Trained multiple double-jointed arms to move to target locations.
Reinforcement Learning
Q-Learning
Unity ML Agents
Python
Numpy
Navigation
Deep Q-Learning based navigation.
Trained an agent to navigate (and collect bananas!) in a large, square world.
Python
Robotic Manipulation
PID Control
Trajectory Planning
CoppeliaSim
Kuka YouBot trajectory planning and control.
A Kuka YouBot programmed to plan trajectory and control the arm to pick and place object in CopelliaSim.
Machine Learning
Python
tensorflow
Numpy
Neural Nerworks
CNN Sketch Classifier.
A Convolutional Neural Network trained to classify sketches using dataset containing ~20,000 sketches distriburted over 250 object categories.
Euler-Lagrangian Equations
Impact Equations
Python
Sympy
Numpy
Control
Dynamics
Dynamics modeling from scratch of jack bouncing within the moving box boundaries.
The simulation from scratch involves with Python and control theories, including Euler-Lagrangian equations and impact laws.
C++
Linux
Linux System Monitor.
A system monitor system parallel to htop, that displays the CPU, process IDs, memory usage, etc of a Linux system.
C++
Linux
Concurrency
Multi-Agent Systems
Traffic-Flow-Simulation.
Built a suitable and thread-safe communication protocol between vehicles and intersections to complete the simulation.
C++
Path planning
Open Street Map Route Planner.
A* based search algorithm to find the shortest path between two points in a map.
C++
Memory Management
Data Processing
Chatbot
A simple chatbot that can answer questions using info from a presaved database and have a conversation with the user.