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1. fingertip-haptic-device-and-optimal-mapping-method fingertip-haptic-device-and-optimal-mapping-method Public

   DIGIT tactile force estimation driving a piezo fingertip haptic device on a teleoperated Franka FR3. EPFL CREATE Lab semester project.

   Python

2. dynamic-hook-grasp-quadrotor-rl dynamic-hook-grasp-quadrotor-rl Public

   RL for dynamic hook grasping with a quadrotor in Isaac Lab. EPFL LIS semester project, in progress.

   Python

3. mobile-robotics-thymio mobile-robotics-thymio Public

   EPFL Basics of Mobile Robotics project (fall 2025): autonomous Thymio navigation combining overhead ArUco vision, A* path planning, local obstacle avoidance and an EKF fusing odometry with vision.

   Jupyter Notebook

4. mpc-thrust-vectored-rocket mpc-thrust-vectored-rocket Public

   Linear, offset-free, tube and nonlinear MPC controllers for a thrust-vectored rocket, from velocity tracking to landing. Python, CVXPY and CasADi. EPFL ME-425 course project, Fall 2025.

   Python

5. deep-rl deep-rl Public

   From-scratch PyTorch implementations of DQN, PPO, SAC and TD3, compared on Gymnasium control tasks (CartPole, Acrobot, MountainCar, Pendulum). EPFL EE-568 practical project.

   Python

6. ros2-human-aware-navigation ros2-human-aware-navigation Public

   Nav2 costmap plugin that makes a TurtleBot respect people's personal space and avoid their predicted paths (ROS 2, C++, Python). Course project for TDDE05 AI Robotics at Linköping University, Sprin…

   C++