DAIRLab Research • UPenn • Current
C3: Consensus Complementarity Control
Contact-implicit MPC from the DAIRLab that plans through making and breaking contact. Lead developer and maintainer of the open-source reference implementation — full refactor, CI/CD, and the example suite behind the Push Anything paper.
View Project →
Advanced Robotics • UPenn
Autonomous VIO-based Quadcopter
Fully autonomous quadcopter flight driven by Visual Inertial Odometry — no ground-truth data required.
View Project →
Control & Optimization • UPenn
3D MPC-Controlled Quadrotor
Balances an inverted pendulum on a flying quadrotor using MPC, Direct Collocation, and RRT*.
View Project →
Physical Intelligence • UPenn
Drone Racing via Reinforcement Learning
PPO-trained quadrotor races through gates in NVIDIA Isaac Sim using only vision-based input.
View Project →
Intro to Robotics • UPenn
Cube Stacking Competition
Autonomous robotic arm stacks cubes in order using inverse kinematics and computer vision.
View Project →
Personal Project
Chess Bot
A 4-DOF robot arm navigating in configuration space with A* to play chess.
View Project →
Final Year Project • NTU
Image Recognition with CUDA C
GPU-accelerated convolution-based image recognition on Jetson hardware for real-time applications.
View Project →
URECA Research • NTU
Digital Terpsitone
Reviving a 50-year-old non-contact instrument using a Kinect sensor and C# with multi-player support.
View Project →
Multi-Disciplinary Project • NTU
Maze-Traversal Bot
An 8-person team project: an Arduino bot that autonomously traverses and maps an unknown maze.
View Project →F1Tenth
Autonomous Racing
RobotRacer • ESE 6150 • UPenn
F1Tenth RobotRacer
10 progressive labs building a full autonomous racing stack — AEB, wall following, SLAM, MPC — culminating in a live race.
View Project →Neural DS
Manipulation
Learning & Control • MEAM 6230 • UPenn
Dual-Arm Stacking via Neural DS
100% task completion on dual-arm cube stacking using Lyapunov-stable neural dynamical systems with scripted IK for contact phases.
View Project →DAIRLab
Open Source
DAIRLab • UPenn
DAIRLab Infrastructure
Robotics drivers and tooling: UR arm driver, Robotiq gripper driver, SpaceMouse LCM bridge, Docker infrastructure, and more.
View Project →