Projects

High-level summary of my current research in autonomous off-road driving and high-speed racing

Framework to automate the startup of modules for robot experiments/data-collection
Maintains metadata for easy data splitting/filtering to facilitate dataset creationc

(Ongoing) Exploring replacing our MPPI planner with a diffusion model
Predict multi-modal path distributions efficiently.

Initial efforts towards lidar scans from multiple perspectives (drone+car) for dense map creation and localization
Intelligently detect and resolve discrepancies between two perspectives.

Perception and high-level control system for drone to detect, track, and follow a person with onboard camera)
Uses Google's Posenet and hand-designed subject-visibility metrics

Generated a high-fidelity pointcloud of the Monza F1 Circuit via ICP-based pipeline that takes in raw lidar scans and noisy GPS information.
Compute map features such as track boundaries, bank angles.

A simple approach to lidar extrinsics calibration using plane fitting

Smart baby stroller with push assist, obstacle avoidance, and more!
Senior capstone project at Pitt.

Learn to play piano, guitar hero style!