* Implementing navigation algorithms for autonomous serving robots

I completed my PhD in the Robotic Manipulation and Mobility Lab advised by Matei Ciocarlie. During my PhD I investigated multiple aspects of robot learning and control. My initial work focused on using iLQR to generate snake gait locomotion in a simulated snake with minimal parameter tuning. From there, I moved on to developing methods of improving the long term accuracy of data driven forward models for use in model-based and model-free reinforcement learning.

During my internship I explored the use of differentiable simulators as a way to co-optimize control policies and hardware parameters.

• Developed system to extract and parse NMEA 2000 sensor data

• Improved architecture of software for large system that integrates many sensory systems all with unique protocols

• Restored haptic knob by installing ARM development board, redesigning firmware, and modifying ARM libraries

As an intern I was involved in a myriad of projects. The most complex projects include

• Optimizing the analysis of product information using VBA in Excel in order to asses a critical situation

• Supervising the development of a software engineering project to parse large amounts of test results in order to obtain crucial data