Robotics engineer at Northeastern University. I build systems that perceive, decide, and move. From MPC-based humanoid locomotion to VLA policies on real manipulators.
Interviewed by Northeastern University News for contributions to Space Station OS, an open-source ROS 2 platform simulating ISS-inspired life support, thermal control, and electrical power subsystems.
Read the article →From imitation-learned VLA policies to MPC-based autonomous racing and open-source space systems. Every project here was deployed, not just simulated.
Convex MPC locomotion controller for the Unitree G1 humanoid in MuJoCo. Single rigid-body dynamics, Pinocchio whole-body control, OSQP solver at 1.4 ms. 12 integration bugs fixed to reach stable walking.
View project →End-to-end multimodal policy built from scratch. Dual-camera ViT encoders, PaliGemma tokenizer, 4-layer Transformer, 50-step action chunking. Deployed on a physical 7-DoF arm with 73% success on screwdriver retrieval.
View project →MPC trajectory tracking and MPCC racing-line control with CasADi and IPOPT. Dynamic rollout planning with RK4. Deployed on a real Ackermann platform.
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RL-trained locomotion in Isaac Lab composed with ROS 2 Nav2 for GPS-denied indoor navigation in disaster-inspired environments.
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Modular ROS 2 platform simulating ISS-inspired life support, thermal control, and electrical power. Featured by Northeastern University.
View project →Comparative missile autopilot study across SFI, LQR, and MPC on short-period longitudinal dynamics. MPC achieved fastest time-to-target at 8s with lowest total control effort.
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Classical pipeline with HSV perception, Pinocchio IK, and OMPL RRTConnect. Evolved to a PPO-based policy trained in MuJoCo for adaptive pick and place.
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Outdoor delivery robot for last-mile logistics in communities. Autonomous navigation, obstacle avoidance, and delivery coordination.
View project →Robotics engineer at Northeastern University working across locomotion, manipulation, autonomy, and space systems. My focus is building control systems that hold up under real dynamics, not just in clean demos.
I've built MPC locomotion controllers for humanoid robots, deployed VLA policies on 7-DoF arms, raced autonomous cars with MPC and MPCC, contributed to open-source space station software, and trained legged robots for disaster response.
Open to research collaborations, engineering roles, and conversations about autonomy, manipulation, or space systems. Grab a coffee chat or send a message.
[email protected]