Python

Sim2Real Furuta Pendulum — physical hardware and MuJoCo simulation

Sim2Real Transfer: Robust RL Control of a Furuta Pendulum

Trained a PPO control policy in a custom MuJoCo Gymnasium environment and achieved zero-shot transfer onto an ESP32 microcontroller. Balances continuously for over an hour on physical hardware with no additional tuning.

Project MARS: Multi-Agent Robotic SLAM

Scalable multi-robot mapping and autonomous exploration system in ROS 2 Humble and Webots. Orchestrates a TurtleBot3 fleet using slam_toolbox, REP-105 compliant TF trees, deterministic occupancy-grid fusion in mars_overseer, and an automated TDD CI/CD pipeline.

Autonomous 6-DOF Barista Robot Gazebo simulation, RViz perception, and ROS 2 control console

Autonomous 6-DOF Robotic Barista: Gazebo & ROS 2 Manipulation

Engineered an autonomous multi-station coffee preparation workcell utilizing a Universal Robots UR10e 6-DOF manipulator, Robotiq 2F-140 gripper, and Intel RealSense D435 in ROS 2 Humble and Gazebo. Features analytical DH forward kinematics, Jacobian pseudoinverse trajectory tracking, singularity-free workspace optimization, and joint effort physics stabilization.

8-Puzzle Solver initial and goal state visualization

8-Puzzle Solver and Graphical Visualization

Optimal 8-Puzzle solver implementing Breadth-First Search (BFS) with hash-set visited state pruning in Python. Features automated file serialization (Nodes.txt, nodePath.txt) and a custom Pygame graphical engine animating the step-by-step solution path.