Projects

Sim2Real Reinforcement Learning for an Arcade-Playing Robot

Python Pytorch Reinforcement Learning Sim2Real PPO Stable Baseline 3 Domain Randomization

Can a physical robot play Atari 2600 games? PPO training within a Sim2Real framework enables Stretch 3 robot to overcome real-world delays, inertia, and noisy action transitions.

ChatGPT 2 From Scratch

ChatGPT 2 From Scratch

PyTorch Transformers Deep Learning LLM

A reimplementation of ChatGPT 2 using pure PyTorch, using the GPT2 and GPT3 papers.

PX4 Autonomous UAV with LiDAR-Based SLAM

ROS2 LiDAR Mapping Drone

Built for outdoor mapping, this drone is equipped with a 2D LiDAR and camera, giving it the power to map real-world environments by capturing and processing spatial data in real-time....

Whack-a-Mole Playing Robot

ROS AprilTag OpenCV Moveit2 RGBD Camera

7-degree-of-freedom robotic arm playing Whack-a-Mole using computer vision within the ROS2 ecosystem.

Arm Assistive Exoskeleton

SolidWorks CAD Mechatronics Arduino

The arm assistive exoskeleton is worn on the arm and forearm, providing assistive force to help with lifting, reaching, grasping, holding, and carrying. It is designed for individuals with muscle...

Point Cloud Based Object Classification

PyTorch Python Deep Learning IssacSim

Point Cloud information is very common in robotics , as it is often part of how robots see the world. In this project, a PyTorch model was trained to identify...

Path Finding in a 2D Environment for a Robot

Python

Pathfinding is crucial for robot navigation, allowing robots to move through their environment. In this project, A* algorithm was used to help a robot navigate obstacles and reach its goal...

Wheeled Robot Navigating a Maze

Mechatronics Microcontrollers Arduino

Wheeled robot navigating a maze using simple sensors, following the right-hand wall.