Robotics MPC and RL for Mobile Manipulator Implementation of Model Predictive Control (MPC) and Vision-Based Reinforcement Learning (RL) for a mobile manipulator robot. Visual-Inertial SLAM Using an EKF to fuse inertial measurements with visual data for robust SLAM. LiDAR SLAM Using LiDAR data for SLAM, creating a texture map, and using GTSAM for pose graph optimization. 3D Orientation Tracking Estimating a rotating object's 3D orientation from IMU data and use that pose stream to stitch camera frames into a panoramic texture. Infinite Horizon Stochastic Optimal Control Implementing receding horizon certainty equivalent control (CEC) and generalized policy iteration (GPI). 3D Motion Planning Implementing A* and RRT algorithms for 3D motion planning. Dynamic Programming Door Key Implementing a dynamic programming solution to solve the Door Key Gym environment. Quadcopter from Scratch Making a quadcopter from scratch, PCB design, assembly, and embedded software (C++) for stable flight control. Machine Learning Neural Operator Benchmarks for Seismic Inversion Benchmarked eight neural architectures (including Fourier DeepONet, VelocityGAN, FNO, and Neural ODEs) for mapping seismic waveforms to subsurface velocity fields on the OpenFWI dataset. Reinforcement Learning Course Curriculum Created programming assignments for COGS 188, an intro class on RL. Joint Visual–Textual Story Generator Combining a GPT-style language model with a Stable Diffusion pipeline for generating a short illustrated story from a single prompt in one shot. Semantic Segmentation for Laser Line Detection Implementing a U-Net model for semantic segmentation of laser lines in images. Software Development Multi-Agent Q-Learning with CUDA, C++, and Python Solving a maze using single and multi-agent Q-learning algorithms implemented in CUDA, C++, and Python. Neural Net from Scratch Building a neural network from scratch using CUDA, C++, and Python. MIPS Assembly Linear Regression Implementing linear regression in MIPS Assembly, including data parsing, model training, and error evaluation through Mean Squared Error (MSE) calculation. Physics Numerical Physics Simulations Simulating a few complex physical systems using numerical methods in Python. Ising Model and Block-Spin Transformations Simulating the Ising model and block-spin transformations from statistical mechanics. Double Well Potential MCMC Simulating the double well potential using Markov Chain Monte Carlo (MCMC) methods. Cartwheel Galaxy Collision Simulation Simulating the collision of two galaxies using N-body simulations, including gravitational interactions and visualization.
