Projects

Selected research and engineering projects.

Long-Horizon LEGO Stacking with ACT

Problem: Train a low-cost robot arm to stack multiple objects from demonstrations.

Approach: Collect teleoperation data using SO101, train ACT-style policies, and evaluate task success, smoothness, and recovery behavior.

Tools: LeRobot, PyTorch, OpenCV, RealSense, SO101

Status: In progress

PPO-LSTM for Partially Observable Box Pushing

Problem: Solve a POMDP where the agent has only local sensor information.

Approach: Use recurrent PPO with LSTM/GRU memory, reward shaping, and belief-state analysis.

Tools: PyTorch, Gymnasium, PPO, recurrent networks

Status: Active

Isaac Lab Bimanual Toy Arrangement

Problem: Arrange scattered toys into a target goal configuration using dexterous bimanual manipulation.

Approach: Build simulation scenes, define observations/actions/rewards, and compare imitation learning and RL-style policies.

Tools: Isaac Lab, PyTorch, robot simulation, dexterous hands

Status: Research planning

Real-Time Fraud Risk Decisioning Platform

Problem: Score financial transactions in real time and decide whether to approve, review, or block.

Approach: Combine supervised ML, graph features, streaming features, and bandit/RL-style decisioning.

Tools: Python, scikit-learn/PyTorch, FastAPI, databases, streaming design

Status: Planned