Engineered a dual-agent PPO system with neuromodulation to adapt
under shifting conditions while reducing catastrophic forgetting
across task changes.
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- Designed coordinated policy and adaptation loops using PyTorch and PPO.
- Mitigated catastrophic forgetting in non-stationary training regimes.
- Repeatedly recovered 80-95% performance after distribution shifts.
PyTorch
PPO
Python
Meta-Learning
Developed a simulation-first quadruped workflow spanning
mechanical design, rigid-body dynamics, locomotion learning, and
navigation for sim-to-policy transfer.
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- Modeled robot structure and actuation constraints in Fusion 360.
- Trained RL locomotion policies in Isaac Sim and Isaac Lab.
- Integrated SLAM-oriented navigation for autonomous traversal.
Fusion 360
Isaac Sim
Isaac Lab
SLAM
Combined perception, speech, and LLM planning into a real-time
navigation and tracking system for drone autonomy.
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- Used OpenCV and YOLOv8 for live detection and scene understanding.
- Layered OpenAI API planning with Whisper-based voice interaction.
- Built a custom vehicle classification dataset for domain-specific tracking.
OpenCV
YOLOv8
OpenAI API
Whisper
Built a performant terrain generation pipeline in Unity with
biome-aware foliage systems and scalable rendering.
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- Used layered Perlin noise for controllable terrain variation.
- Distributed biome-specific foliage across large procedural scenes.
- Optimized rendering to support 15K+ objects with Unity LOD systems.
Unity
C#
Perlin Noise
LOD Optimization