Project library
Each project opens with a short overview, then follows the specific technical challenges, decisions, and iteration work behind the build.
Browse the current portfolio work and open each story for the engineering details behind it.
Built a MuJoCo-Warp velocity-tracking task for legged locomotion with GPU-parallel simulation, randomized walking commands, noisy proprioceptive observations, domain randomization, reward shaping, checkpoint playback, and rollout recording.
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Built a MuJoCo simulation testbed for a six-wheel stair-climbing delivery robot with waypoint navigation, active payload leveling, rangefinder-based bogie control, constrained MPC tracking, and PPO reinforcement-learning experiments.
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Built real-time ESP-IDF firmware for a self-balancing robot, using FreeRTOS tasks, task notifications, queues, periodic timers, IMU sampling, PID control, stepper motor timing, UDP telemetry, and safety watchdog paths to coordinate balance control under hardware timing constraints.
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