SO-ARM RL: Manipulation tasks (WIP)
End-to-end RL policy to lift a cube on SO-ARM100/101. Domain randomization and deployment helpers.
Projects
A curated set of things I’ve built, shipped, or validated on hardware. For a more visual overview, see my portfolio.
Kinova Gen3 RL & Sim2Real Toolkit
Modular pipeline enabling end-to-end training in Isaac Lab and deployment on the real Gen3 without a runtime sim dependency. Includes training scripts, pre-trained weights, and ROS 2 nodes to stream joint targets directly to the arm. Validated with INIT Lab (ÉTS Montréal).
Disney BD-X Robot Locomotion Training
Clean locomotion environment for the BD-X biped with a 10-DoF task, curriculum randomization, and reward shaping. Designed for efficient training and easy reproduction; pending upstream integration in Isaac Lab.
VR-Based Throwing Accuracy Study
Built a VR environment to study how manipulated visual feedback affects throwing accuracy and skill transfer. The study highlights VR’s potential for improving motor learning and precision.
Bipedal Wheeled Robot
Designed an innovative wheeled-biped with a zero-cantilever mechanism for stability. 3D-printed the structure and implemented ROS 2 control and RViz visualization for robust motion in varied environments.
Experimental Equipment for Orthostatic Exercise
Assistive sit-to-stand system using EMG-based intent detection and real-time seat hardening/tilting to reduce quadriceps load. Implemented data capture and analysis; validated with synchronized camera and EMG measurements.
Semantic Sensor Fusion for Unitree Go1
Fused Velodyne LiDAR and RealSense D455 data for semantic mapping and person-following. Included calibration (ArUco), point-cloud colorization/interpolation, and YOLO/CLIP hooks — deployed on Jetson Xavier with ARM-Docker fixes.
Lane Detection & Vehicle Tracking
Edge-based lane extraction (Hough) and real-time multi-object tracking for vehicle counting. Designed to be resilient to changing lighting and weather conditions.
8-DoF Quadruped Robot
Low-cost leg module prototype (2-DoF per leg) with a roadmap toward a 12-DoF upgrade and more dynamic gait control.
Minimalist C++ 1v1 Game
Tiny 1v1 game coded entirely in C++ (no engine), supporting keyboard and gamepad. Focused on core game loop, collisions, and rendering in a compact codebase.
