Explore my latest projects, research, and technical guides on robotics, control systems, and automation.
Continuing to improve the Mamba + LNN powered Franka Emika robot arm with parallelized cloud training, improved models, and closing the sim-to-real gap.
A systems view of continuous robot reinforcement learning: why control splits across a 20 Hz policy loop and a 500 Hz PD loop, how GAE trades bias for variance, the truncation bug that quietly biases every late-episode advantage, what the PPO clip does and does not constrain, and which metrics to read when a run goes bad.
Designing a multi-rate vision-based pick-and-place policy for a 7-DOF Franka Panda arm from first principles: 10 Hz Mamba-3 SSM Cortex, 50 Hz Liquid CfC Brainstem, SpatialSoftmax, and DLS Inverse Kinematics.
An interactive decision tree meant to help you find which controller is right for you between PID, LQR, MPC, NMPC, and more.
Ditch the pre-computation phase, the controller plans it all live, up to 200 times a second, in the browser. Learn how prediction controllers work.
The same controller, this time bringing a bit of the real world into the sim. Find out what breaks and how to fix it.
One motor against three degrees of freedom. I cover trajectory optimization, LQR, and the handoff between them. Everything running live in the browser.