Projects

Projects#

// PROJECT_DATABASE

21 projects, 6 domains, 2021 → now

Research, control, locomotion, industry deployments, drones, and embedded hardware. Hover any row to expand. Click to dive in.

21PROJECTS
6DOMAINS
5WITH PAPERS
12CORE TECH
// FILTER · DOMAIN click to filter
// ALL_PROJECTS · INDEX
  1. 01 INDUSTRY

    Tensiq · TT · TACTILE AI

    2026 SHIPPING ↗

    Universal tactile intelligence for robotics. A standardized tensor format and processing pipeline that turns any tactile sensor into model-ready, physics-grounded data — the “MP4 for touch”.

    Tactile AIMulti-SensorPipelineRobot LearningStandardization
  2. 02 RESEARCH

    SUREFlow · IROS '26

    2026 SUBMITTED ↗

    State-space uncertainty-aware residual flow matching for robust robot manipulation. Mamba-backbone VLA — 92.6% LIBERO success rate with just 179M parameters, beats MaIL by +34.3%.

    Flow MatchingMambaVLAUncertaintyLIBERO
  3. 03 CONTROL

    RL Prescribed Performance · FTC · IEEE TCYBE

    2026 UNDER REVIEW ↗

    Reinforcement-learning-based neuro-optimal control for robot manipulators under composite actuator faults. Predefined-time tracking via prescribed performance functions + actor–critic–identifier RL. Submitted to IEEE Transactions on Cybernetics.

    RLNeuro-Optimal ControlFault TolerancePPFManipulator
  4. 04 RESEARCH

    OpenARM-VLA · OSS · REAZON

    2026 OSS CONTRIB ↗

    Open-source contribution to Reazon Research · OpenArm. A VLA framework on the OpenArm platform in Isaac Sim. Head-to-head benchmark of MambaVLA (state-space) vs MDT Transformer with an RL-teacher synthetic data pipeline.

    VLAMambaMDTIsaac SimOpenArmOSS
  5. 05 RESEARCH

    MambaVLA

    2026 CCNC ’26 ↗

    Scalable, efficient Vision-Language-Action transformer with state-space architecture for robotic manipulation. Mamba SSM at the policy core.

    Mamba SSMVLAPyTorchManipulation
  6. 06 LOCOMOTION

    QROOT

    2025 NeurIPS ’25 ↗

    Integrated diffusion transformer + reinforcement learning for quadrupedal locomotion. End-to-end gait synthesis from a latent prior.

    DiTRLQuadrupedIsaac Sim
  7. 07 RESEARCH

    DiffDAIL

    2025 UNDER REVIEW ↗

    Diffusion-enhanced, vision-guided imitation learning with discrete latent representations. Robust policies from noisy demonstrations.

    DiffusionImitation LearningLatentPyTorch
  8. 08 CONTROL

    DLDMP

    2025 NODYCON ’25 ↗

    Discrete latent diffusion motion planning for manipulators.

    DiffusionMotion PlanningManipulator
  9. 09 INDUSTRY

    Tissue Processing

    2024 DEPLOYED ↗

    Vision-guided tissue manipulation. 85.7% autonomous success on ViperX arms at Dexweaver.

    ViperXACTDexweaver
  10. 10 RESEARCH

    ACT on Franka

    2024 IEMEK ’24 ↗

    Action Chunking Transformer implementation for vision-guided pick-and-place on the Franka arm.

    ACTFrankaPick & Place
  11. 11 INDUSTRY

    Autonomous Harvesting

    2024 DEPLOYED ↗

    Cucumber harvesting using YOLOv11 detection with ViperX arms on a mobile AGV.

    YOLOv11ViperXAGV
  12. 12 RESEARCH

    Imitation × Diffusion · Franka

    2024 ↗

    Combining imitation learning with diffusion processes on the Franka manipulator.

    ImitationDiffusionFranka
  13. 13 CONTROL

    Hybrid MPC + ILC

    2024 KNU-EERC ’24 ↗

    Hybrid model predictive and iterative learning control for leader-follower robotic tracking.

    MPCILCTracking
  14. 14 LOCOMOTION

    Reinforcement Learning · Basics

    2023 ↗

    Fundamental RL algorithms — DQN through SAC — implemented end-to-end.

    PPOSACGymnasium
  15. 15 CONTROL

    DNN-NMPC for CSTR

    2023 ↗

    Deep neural network–based nonlinear MPC for a continuous stirred-tank reactor.

    DNNNMPCCSTR
  16. 16 DRONES

    Tello + Object Detection

    2023 ↗

    Tello drone teleop with keyboard and onboard object detection.

    TelloDetectionUAV
  17. 17 DRONES

    Drone Control · Keyboard

    2023 ↗

    Keyboard-based teleop for UAV navigation and waypoint following.

    UAVTeleopPython
  18. 18 DRONES

    Drone Trajectory · LPV-MPC

    2023 ↗

    UAV trajectory tracking with linear parameter-varying MPC.

    LPV-MPCUAVPython
  19. 19 HARDWARE

    32-bit MIPS CPU

    2022 ↗

    32-bit pipelined MIPS CPU built from scratch in Verilog.

    VerilogMIPSPipeline
  20. 20 HARDWARE

    Smart Home · IoT

    2021 ↗

    ESP32-based home automation with cloud control.

    ESP32IoTCloud
  21. 21 HARDWARE

    Verilog Digital Designs

    2021 ↗

    Collection of digital design projects in Verilog HDL.

    VerilogHDLDigital