Python

Trained a PPO control policy in a custom MuJoCo Gymnasium environment and achieved zero-shot transfer onto an ESP32 microcontroller.

Built a real-time monocular perception and object tracking pipeline using OpenCV — detects, classifies, and tracks targets across video frames using depth estimation heuristics.

Designed and programmed an autonomous barista robot capable of navigating a café environment, picking up cups, and delivering drinks using ROS 2 and a robotic arm.

Implemented an Extended Kalman Filter (EKF) for state estimation combined with an LQR controller to stabilize an inverted pendulum under sensor noise.

Implemented the A* search algorithm on a TurtleBot3 for autonomous navigation in a mapped environment, including obstacle avoidance and replanning.

Built an 8-puzzle solver using A* search with admissible heuristics (Manhattan distance), visualizing the solution path and comparing search strategies.