Projects

Things I've built

Coursework, tools and side projects, most of them on GitHub. Code that goes with a paper lives on that paper's page under Research.

MonoLayout2.0
Bird's-eye road and vehicle layout from a single camera image, brought up to date with current PyTorch and Pillow.
PyTorch · ResNet · Argoverse
- Code
Mobile Robotics in 3D
Interactive explainers for Euler angles, quaternions and coordinate frames, built for a mobile robotics course.
Three.js · dat.GUI · JavaScript
- Code
Akshara
A Linux PDF reader for long sessions: neural text-to-speech with sentence highlighting, a Pomodoro timer and reading analytics.
PyQt6 · PyMuPDF · Kokoro-82M · SQLite
- Code
Rod navigation environment
A Gymnasium environment where a rigid rod has to pass through a narrow gap between two obstacles. A small testbed for MPC and reinforcement learning.
Gymnasium · NumPy · Matplotlib
- Code
Franka Panda pick and place
Object detection and pick-and-place for the Franka Emika Panda arm, with RealSense depth perception and MoveIt 2 planning.
ROS 2 · MoveIt 2 · C++ · Python · Gazebo
- Code
Multi-robot task allocation
Decentralised task allocation for robot teams on the Robotarium platform.
Python · Robotarium
- Code