Capabilities
Technical Skills
My strongest work sits at the interfaces between algorithms, firmware, sensors, actuators, and experimental validation. The project links below show where each capability was applied.
Embedded Robotics
Embedded C/C++, STM32, Arduino, ESP32, PWM/timers, encoders, GPIO, I²C, UART/Serial, CAN, USB CDC, SWD/ST-Link.
State Estimation & SLAM
Stereo geometry, visual odometry, PnP, IMU fusion, trajectory alignment, bundle adjustment, loop closure, sparse mapping.
Controls & Actuation
Continuous/discrete control, loop shaping, Tustin discretization, PID/PD + feedforward, PWM actuation, saturation, safety interlocks.
Robot Learning
PyTorch, Transformers, LeRobot, diffusion policies, vision-language-action models, rollout evaluation, action-space statistics.
Autonomy & Simulation
ROS2, Nav2, Cartographer, robot_localization, Gazebo, MuJoCo, UR10e kinematics, simulation-first validation.
Engineering Tooling
Python, C/C++, MATLAB, Linux, Git, CMake/Ninja, Jupyter, OpenCV, NumPy, SciPy, pandas, Matplotlib.