Research
Solving Rubik’s Cube
One of the core goals of this work was to push the capabilities of sim-to-real dexterity by growing environment complexity purely in simulation. The entropy of these environments was managed through the use of the implicit curriculum learning generated by Automatic Domain Randomization.
Publications:
- Solving Rubik’s Cube with a Robot Hand
- Asymmetric self-play for automatic goal discovery in robotic manipulation
Solar UAV-Large
The purpose of this project was to explore the development of a hand-launchable fixed-wing UAV capable of day-long and multi-day flight through the use of solar-power. My primary contributions were related to power electronics architecture and design, avionics.
Publications:
Transformer UAV
The Transformer UAV project demonstrates a shapeshifting based approach to vertical-takeoff-and-landing (VTOL). The inspiration for this pursuit stems from designing a UAV that combines the efficiency of fixed-wing flight with the manuvarability of multi-rotor flight. Combined with the energy surplus associated with solar-powered flight yielded a unique and rich research pursuit. Protoypes are named MultI-Section-Transformable (MIST)-UAV.
Videos:
Publications:
- SUAV:Q - A Hybrid Approach To Solar-Powered Flight
- SUAV:Q - An Improved Design for a Transformable Solar-Powered UAV
- Design and Experiments for a Transformable Solar-UAV
- Energy Characterization of a Transformable Solar-Powered Unmanned Aerial Vehicle
- Design and Experiments for MultI-Section-Transformable (MIST)-UAV