My Projects

This page is still under construction.

Visit my github for more code.

My Reinforcement Learning Projects

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wheeled-legged locomotion Robust locomotion with RL for wheeled-legged robots (Unitree B2).	racing-dreamer Model-based RL for autonomous racing trained on latent imagination learned from high-dimensional LiDAR data.
racecar-gym A gym environment for a miniature, F1Tenth-like racecar using the bullet physics engine with pybullet.	auto-shaping Specification-based library for automatic reward shaping.
agency-preserving-rl Training an altruistic agent under partially-observable, evolving and under-represented goals.

My Robotics Projects

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mobile-robotics-ros Self-localization, mapping and motion planning for a differential drive robot using ROS.

f110-rl-ros Deployment of reinforcement learning agents on the F1Tenth platform using ROS.

My Formal Methods Projects

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fosco Learner-Verifier framework for formal synthesis of Control Barrier Function.