Projects

Engineering work spanning control theory, RL, and embedded deployment.

Double Inverted Pendulum: SAC Swing-Up + Policy Compression

in progress

SAC swing-up controller distilled to an INT8 policy small enough to run on an STM32H7.

PyTorch · MuJoCo · STM32H7 · C

Ground Robot MRTA: Auction Baselines vs. MARL

in progress

Multi-robot task allocation in MuJoCo + PettingZoo, comparing auction-based allocation against learned coordination.

MuJoCo · PettingZoo · Python