projects

A growing collection of my cool projects.

Work

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

project thumbnail

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.
project thumbnail

Modular Control Pipeline for Real UR5e Manipulator

Internship at Fraunhofer IPA - 1
project thumbnail

Peg-in-Hole Simulation & RL Platform

Internship at Fraunhofer IPA - 2
project thumbnail

Vessel Dynamics Simulator

Work at RWTH IRT -1
project thumbnail

QpSolverCollection — real‑time optimal‑control toolkit

Work at RWTH IRT – 2
project thumbnail

Processing of Dynamic Object Information in MPC‑Planner

ACDC Research Project - RWTH ika

Fun

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

project thumbnail

Dual Arm Teleoperation with ROS2 Humble

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

Edge Detection with ROS Noetic

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

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.