projects

Projects I’ve worked on professionally or as part of academic research, including robotics, control systems, and deep learning applications.

Humanoid Manipulation Hackathon Winner

🥇 1st Place at the Munich Humanoid Manipulation Hackathon (BMW Challenge)

Investigating Robot Learning of Quadrupedal Locomotion on Deformable Terrain

M.Sc. thesis - GPU-accelerated Isaac Sim workspace that couples Position-Based Dynamics (PBD) gravel simulation with a curriculum-driven PPO policy to achieve robust, energy-efficient locomotion across soft, uneven, and granular ground.

Modular Control Pipeline for Real UR5e Manipulator

Internship at Fraunhofer IPA - 1

Peg-in-Hole Simulation & RL Platform

Internship at Fraunhofer IPA - 2

Vessel Dynamics Simulator

Work at RWTH IRT -1

QpSolverCollection — real‑time optimal‑control toolkit

Work at RWTH IRT – 2

Processing of Dynamic Object Information in MPC‑Planner

ACDC Research Project - RWTH ika

Side projects and experiments where I explore new tech, play with hardware, and tinker with ideas just for fun.

Dual Arm Teleoperation with ROS2 Humble

Dual-UR5e teleoperation in ROS2 via keyboard or real-time MediaPipe hand-tracking, packaged in Docker.

Edge Detection with ROS Noetic

Modular classical & deep-learning edge detection pipeline, featuring real-time C++ and Python nodes.

6‑Axis UR5e Robot Collision Avoidance Control with Mink & MuJoCo

Collision‑aware Cartesian control and autonomous pick‑and‑place for a UR5e arm with Robotiq gripper, powered by the open‑source Mink robotics library.