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working on robots!
🐢
working on robots!
228 followers · 115 following

Achievements

Achievement: Pull Sharkx3Achievement: QuickdrawAchievement: YOLOAchievement: Pair ExtraordinaireAchievement: Starstruckx3Achievement: Arctic Code Vault Contributor

Achievements

Achievement: Pull Sharkx3Achievement: QuickdrawAchievement: YOLOAchievement: Pair ExtraordinaireAchievement: Starstruckx3Achievement: Arctic Code Vault Contributor

Organizations

@OpenQuadruped @minervahumanoids

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moribots/README.md

Building humanoids to protect humans.

CTO @ Minerva Humanoids. Ex-Boston Dynamics.

I work across whole-body controls, dexterous manipulation, teleoperation, motion retargeting, and sim-to-real robot learning.

Current Work

Minerva Humanoids: humanoid robot software stack for training, validating, and deploying whole-body robot behavior.

Pinned Loading

  1. motion_planning motion_planning Public

    Motion Planning Library to accompany turtlebot3_from_scratch repository. Deployed PRM, Grid Map, A*, Theta*, LPA*, D* Lite*, Potential Field, and MPPI.

    C++ 199 40

  2. turtlebot3_from_scratch turtlebot3_from_scratch Public

    Turtlebot3 with EKF SLAM and Inverse Kinematics from Scratch

    C++ 26 13

  3. 2d_arm_diffusion 2d_arm_diffusion Public

    Training a simple diffusion policy for 2D arm control in push tasks. There's also a script to generate jupyter notebooks to upload to cloud GPU services (e.g Kaggle)

    Python 6

  4. final-project-checkers final-project-checkers Public

    A Baxter Robot learns to play Checkers with MoveIt, OpenCV and a custom AI move-generator that uses Minimax with Alpha-Beta Pruning

    Python 5 3

  5. attention_viz attention_viz Public

    Attention visualization for Mechanistic Interpretability

    Python

  6. OpenQuadruped/spot_mini_mini OpenQuadruped/spot_mini_mini Public

    Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

    C++ 926 191