Projects

Current work

Digital Twins and Edge Autonomy at Arrive AI

An autonomy stack combining RL policies with vision-language-action models, the edge inference that runs it on Jetson hardware, and a digital twin to test it before deployment.

Coordinated Payload Transport with Biped-Wheeled Robots

One reinforcement learning agent driving two balancing robots to carry a shared payload — trained in Isaac Lab, transferred to hardware with no fine-tuning.

Rough-Terrain Path Tracking with Hybrid Deep Reinforcement Learning

A model-based controller and a learned policy working together, so an Ackermann-steered vehicle tracks a path across terrain neither was tuned for.

Agile Off-Road Traversal of an Ackermann-Steered Platform

Goal-to-goal navigation learned end-to-end for a mid-scale off-road vehicle, with reward shaping tuned for stability rather than raw speed.

Real-Time 3D Scene Reconstruction with NVIDIA Isaac ROS Nvblox

A deployment pipeline taking Nvblox from a simulated test arena to a TurtleBot3 Burger, producing live 3D reconstruction and 2D costmaps on a Jetson Orin Nano.

Isaac Bi3D Freespace Segmentation on HPC and Hardware

Scaling NVIDIA's Bi3D freespace segmentation across L40 GPUs on a university cluster, then deploying it on a Clearpath Husky in a custom off-road scenario.

DepthNet and SegNet on a Clearpath Husky

Monocular depth and semantic segmentation running live on a Jetson AGX Orin aboard a Husky, tested against the real scene rather than a dataset.

LiDAR-Inertial Odometry and Mapping on a Unitree Go1

LIO-SAM brought up on a legged robot with a Velodyne VLP-16, then tuned for the one thing it wasn't written for: a gait that shakes the sensor every step.

Kinematic Model Verification for a Unitree Go1

A Denavit-Hartenberg model of the Go1's legs, checked against hardware data instead of assumed correct — agreement to the order of 10⁻².