Selected work
Projects
A few of the things I'm building. Most live on GitHub.
Arwun
A small self-balancing, tracked mobile robot with flipper-gripper arms. A layered control stack runs from an ESP32-S3 up to a Jetson Orin Nano, with controls prototyped in Drake (LQR) and a perception/world-modeling front-end moving onto NVIDIA Isaac. The whole build is documented in the build log.
PRISM
A graph-based world-modeling system: a factor-graph estimation backend, a hierarchical scene graph, and an LLM-grounded policy layer. Accelerated perception sources — visual SLAM, 3D reconstruction, detection — feed it as measurements. Supersedes my earlier MaRMOT and C2HI work.
FiftyOne plugins
Tooling for the computer-vision data platform I work on: an object-tracking plugin with quality-control facets and a roadmap of tracking-specific operators, plus integrations for cloud-hosted datasets.
Research
PhD in robotics, focused on perception. Published work in multi-object tracking and human–robot interaction.