Projects
Each project is a complete system — problem, method, hardware, and evidence — not just a paper.
An 8-DoF biped module that walks alone or links into a quadruped — built to measure what modularity really costs in reliability, control, and energy.
A low-cost drone and ground vehicle team, built in three weeks and field-tested inside the Zwentendorf nuclear power plant at the European Robotics Hackathon.
A Unitree Go2 walks while keeping a free-rolling ball balanced on a plate mounted on its back — learned in simulation, transferred to the real robot.
A hierarchical learning system that teaches the Qingzhui hexapod what it can traverse — and plans long-range paths it can actually execute.
Task-oriented manipulation skills learned from human motion with adversarial motion priors, deployed on a real Kinova Gen3 arm.
Stance and swing legs as two adversarially-trained agents — whole-body control for tracking, reinforcement learning for balance.
Hexapod robots modified for skating and skiing, field-tested at real winter resorts, and built for the Olympic torch relay.
An early sim-to-real system: a reinforcement-learning planner on top of a trajectory-optimization gait controller for a hexapod.
