projects
Research directions I'm working on, plus things I've built for fun.
research
CORL-AUV
CFD-oriented reinforcement learning for 6-DOF control of autonomous underwater vehicles, deployed zero-shot on a coral reef.
Autonomous eDNA Sampling (In Progress)
Autonomous environmental DNA collection on coral reefs to monitor biodiversity and reef health. Supported by the WHOI Ocean Ventures Fund.
Segmentation Multi-Object Tracking (In Progress)
Improving Segmentation Multi-Object Tracking. More coming soon...
Harmonic Quadruped Policies
Locomotion policies that express each joint trajectory as a command-conditioned Fourier series, modulated online by learned feedback and tested on a Unitree Go2.
AI-Driven MagNav
Predicting aircraft position from magnetic anomalies with 1-D CNNs, without GPS or a known initial position.
Min-Max Correlation Clustering
A nearly linear-time (3+ε)-approximation for min-max correlation clustering, extended to MPC and streaming.
