Click any tile for a detailed write-up and a link to the source.
A highway perception stack split across an onboard real-time tier and an AWS near-real-time tier, built to measure whether delayed cloud perception is still safe to act on.
An N-link pendulum on a belt-driven cart, written in C++ end to end โ dynamics, an LQR baseline, and a hand-written PPO โ built so the simulator can be trusted enough to buy hardware against.
Capstone (FYDP) โ a high-precision Ultra-Wideband system that locates people in crowded indoor/outdoor spaces.
A real-time OpenCV vision system on a Raspberry Pi 5 that detects and tracks a path for autonomous navigation.
Fine-tuned a Qwen 3 vision-language model for driving-scene question answering on NuScenes.
A from-scratch PyTorch reimplementation of Llama 3.1-8B โ RMSNorm, RoPE, GQA, SwiGLU โ loading Meta's real 8B weights for text generation.
A Deep Q-Network trained in PyTorch to learn optimal control policies for the Snake game.
A C++ control system with odometry tracking and PID loops for precise autonomous field movement.
A GPS-based autonomous navigation stack for the UW Robotics Mars rover using ROS 2 and Nav2.
A ball-on-beam motion controller designed with inputโoutput parametrization and validated on hardware.
A simulated 2-wheel differential-drive robot built with ROS2, Nav2, and the SLAM Toolbox.
A ROS2 Humble system where a chaser node pursues turtles spawned at random poses using a P-controller.