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Gallery · 22 videos, 4 photos

Robots

Footage from the labs I've worked in: swarms, quadrupeds, humanoids, and a few drones that paint.

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01A Unitree Go1 holding a handstand on a moving platform, stabilized by ContractionPPO.

02A reinforcement-learning policy for humanoid locomotion.

Long exposure of a drone flying the Lorenz attractor, using a trajectory-following controller I wrote. — 03Long exposure of a drone flying the Lorenz attractor, using a trajectory-following controller I wrote.

04Locomotion policies on Boston Dynamics Spot, designed and trained in Isaac Lab.

0535 drones in simultaneous flight, coordinated with Crazyswarm.

06Reinforcement learning for dynamic fault recovery on the Unitree Go1.

07A circus-style act: a quadruped holds a hoop while a drone circles around it. A student project from a course I TA'd.

08Multi-drone control software that flies a team forward in a helical formation.

09Long exposure: a drone tracing a flower-like curve generated from a mathematical equation.

With the Booster T1 humanoid. — 10With the Booster T1 humanoid.

11A custom quadcopter with a magnetic arm, drawing patterns in a sand-filled canvas.

12Particle image velocimetry experiments on quadrotors, studying the aerodynamics of close-proximity flight.

13My custom-built quadcopter painting on a canvas.

1430 drones in simultaneous flight, coordinated with Crazyswarm.

15RoboChaser: an iRobot Create 3 that follows a custom car. My sophomore deep-learning project, selected as the best of more than 120 submissions.

16Drone teams following trajectories defined by Newtonian pendulum dynamics.

17The Lorenz attractor again, this time as a long-exposure video.

18Geometric formations with teams of eight drones.

19Drones following a hand-held wand.

20Obstacle avoidance on a 10-drone system.

21Flying and PID-tuning the custom painting quadcopter.

In the lab. — 22In the lab.

One of the first tests of my drone's ability to paint on canvas. — 23One of the first tests of my drone's ability to paint on canvas.

24Free-flight experiments on aerodynamic interactions in close-proximity flight.

25Testing obstacle-avoidance algorithms for multi-drone teams.

26Testing a multi-drone trajectory-following script.