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Archive— every project
Everything I've shipped.
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2025
- Controls· 2025
Real-Time MPC for the Crazyflie 2.1
From-scratch C ADMM solver and a 2.1 µs neural distillate.
C++ADMMOSQPMuJoCo - Controls · RL· 2025
DoubleBee Hybrid Aerial-Ground Locomotion
One PPO policy for stand-up, wheels, and bicopter flight. No mode-switching.
Isaac LabPPORSL-RLROS 2Python - Planning · Manipulation· 2025
GCS Motion Planner for MoveIt2
IRIS-ZO regions, SOCP relaxation, C¹ Bézier tracks on a 7-DOF Franka.
IRIS-ZOSOCPMoveIt2C++ - · 2025
Control of an Autonomous Vehicle
ControlsMATLAB - Planning · Manipulation · Controls· 2025
Franka Manipulation Planning
RRT-Connect, ARA*, and a 7-phase state machine on a 7-DOF Panda — no OMPL, no MoveIt2.
C++MuJoCoRRT-ConnectARA*OSC - · 2025
Golf Ball Collecting and Cleaning Bot
RoboticsEmbedded - · 2025
Gummy Bear Automated Detection
PythonComputer Vision - · 2025
Optimal Control
MATLABOptimization - · 2025
STM32-based Embedded Car
STM32CEmbedded - · 2025
Wall Outlet Tester
EmbeddedPCB
2023