Projects

A 3D printed quadrotor with a flight controller I am building from scratch on a Teensy 4.0. Uses MPC for trajectory execution and RL for adaptive control.

A robotic gripper with tactile sensors in the fingertips that adjusts its grip based on what it is holding.

A C++ motion planning framework for robots, built on Pinocchio and MuJoCo. The same code runs in simulation and on real hardware.

Shared memory IPC middleware for moving data between processes with no copies. Includes pub/sub, lock free queues, and a small key value store.

A small programming language in C++, with both a tree walking interpreter and a bytecode virtual machine.

A configurable 3D point cloud pipeline built on PCL, covering filtering, segmentation, and clustering.

An embodied AI agent that builds semantic maps and remembers what it sees, using GPT-4 Vision and LLaMA 70B.

OpenVLA running on MuJoCo and Robosuite so a robot can pick and place objects from language and vision.

A C++ behavior tree library for structuring decision making in AI and robotics.

3D printed 6 DOF arms wired into the LeRobot framework for training and testing vision language action models.

A low latency video streaming library in C++, written from scratch on top of UDP and RTP.

A 16 bit computer built from scratch, from logic gates up to a working CPU, memory, and instruction set.

A lightweight instrumentation profiler for C and C++ that measures function execution times with little overhead.

Anomaly detection for self driving cars using a variational autoencoder to spot unusual driving scenes.

A ROS2 port of Anybotics Elevation Mapping that builds real time elevation maps for terrain analysis.

A ROS2 port of Anybotics Traversability Estimation that works out how easily a robot can cross terrain.

A Gazebo plugin that adds realistic drift and slippage noise to differential drive wheel encoders.

Bare metal STM32 Cortex M4 work, writing the GPIO, UART, SPI, and I2C drivers from scratch.

A character level language model using the causal convolutions from DeepMind WaveNet paper.

A full BART transformer written from scratch and trained on CNN/Daily Mail for summarization.

Autonomy work for the RHex hexapod, covering low level control of its C shaped legs and higher level navigation.

A 3 axis spraying machine I designed and built, borrowing the gantry idea from 3D printers.

A disassembler for the Intel 8086/88 that turns raw machine code back into readable assembly.

A system that turns language instructions and a camera feed into robot actions, with an LLM doing the planning.