Software
Reusable engineering from my research — what each tool solves, not just a wall of repositories. Everything lives on GitHub.
Long-range planning that respects what a legged robot can traverse
Research code for capability-aware locomotion planning on hexapod robots: simulation environments, capability-abstraction training, and capability-augmented path planners.
Python PyTorch CoppeliaSim
Training manipulation policies with human-style motion priors
Training pipeline for adversarial motion priors on robot arms — human video keypoint extraction, robot alignment, and AMP-augmented reinforcement learning, with Kinova Gen3 deployment scripts.
Python PyTorch
A reproducible controller stack for six-legged robots
Layered locomotion control for hexapods: trajectory-optimization gait generation below, learning-based planning above, with ROS integration and sim-to-real tooling.
C++ Python ROS