Projects
Things I've built, contributed to, broken, and occasionally got working on real robots.
Featured Work
PAL Robotics · July 2025 – Present
Leading the reinforcement learning locomotion stack for PAL's Kangaroo humanoid robot. Replacing legacy Zero Moment Point (ZMP) walking with RL-based policies trained in Isaac Lab and mjlab, deployed via ROS/ROS 2.
Results
- Successful sim-to-real transfer for RL-based locomotion
- Integrated PAL's humanoid and mobile manipulator robots into Isaac Lab and mjlab for training
- Built ROS package for seamless policy deployment from simulation to hardware
Isaac Lab
mjlab
PyTorch
ROS 2
Python
Open Source · Led by Kevin Zakka
Early contributor and collaborator to mjlab, an Isaac Lab-style RL framework built on MuJoCo Warp. Contributed to APIs, task implementations, and documentation. But most importantly a daily user/tester!
Results
- 2× faster performance than Isaac Lab in object-rich environments
- Deployed sim-to-real policies with zero domain randomization
- Acknowledged in the project's citation file
MuJoCo Warp
Python
PyTorch
Open Source · Personal Project
End-to-end pipeline for training RL manipulation policies in Isaac Lab and deploying them on a real Kinova Gen3 arm via ROS 2. Created as the missing "Hello World → Real Robot" bridge for Isaac Lab users.
Results
- 156k+ social impressions (LinkedIn, X, Reddit)
- Adopted by INIT Lab (ÉTS Montréal) and researchers in Europe and Japan
- Includes docs, tutorials, and pre-trained weights
Isaac Lab
ROS 2
PyTorch
Python
University of Tokyo · June – Sept 2024
Built a ROS pipeline fusing Velodyne LiDAR with RealSense D455 for semantic navigation on a quadruped platform. Enabled object-centric SLAM and person-following for Jiaxu Wu's PhD research.
Results
- Live colored point-cloud at 10 Hz with YOLO object labels
- Became the lab's reference template for LiDAR-camera fusion
- Resolved ARM-Docker issues on Jetson Xavier for edge deployment
ROS
C++
YOLO
CLIP
Docker
Other Projects
Open Source · Collaboration
RL-based manipulation tasks for SO-ARM100/101 robots using Isaac Lab. Presented at ROSCon España (Nov 2025).
Isaac Lab
PyTorch
ROS 2
Personal Project · ROS 2
Designed, 3D-printed, and brought up a 6-DOF wheeled biped robot. Wrote custom controllers and RViz visualization to validate stability and zero-cantilever design.
ROS 2
SolidWorks
Python
Naova RoboCup Team · Nov 2024 – April 2025
Enhanced NAO biped walking stability by ~15% by converting discrete to continuous control signals. Also developed a neural network for automatic referee signal interpretation.
Python
PyTorch
Control