The ML engine demands data and layers.

Understanding road construction

At Willow I created parts of ROS and the PR2 stack. I built the realtime control system and controllers for the PR2 robot, including a multi-dof trajectory controller and a Cartesian impedance controller. For core ROS, I wrote xacro, the URDF parser, and the Python actionlib client.

Later on, I contributed to tools for teleoperating the PR2, a webGL based visualizer for point clouds with >10 billion points, and an internal Visual-SLAM system.

I largely used C++ and some Python, and worked with ROS, OpenCV, PCL, and KDL.