Featured Engineering Projects
Current robotics engineering work
Selected completed projects spanning robot-aware autonomy, analytical modeling and control, and multi-sensor perception.
Learning-Augmented Control
UR5e Residual Reinforcement Learning
Bounded residual torque learning with PPO, SAC, and TD3; PhysX validation investigates payload mismatch, reverse compensation, and intermediate-mass cross-evaluation.
PPO / SAC / TD342.6% RMSE reductionPhysX validation
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Autonomy
Robot-Aware Path Planning
Planner behavior evaluated against robot geometry, continuous clearance, safety-aware velocity, and mission-level execution.
4 planners2 robot platforms3 scenarios
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3D Perception
LiDAR-Camera 3D Perception & Fusion
Calibrated 3D-to-2D projection, object-level range association, segmentation, and robustness evaluation in NVIDIA Isaac Sim.
ROS 2Isaac SimSensor fusion
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