My recent work

Experiments, collaborations, and projects I’m especially proud to have shipped.

Vision-Language-Action Pick & Place — SO-ARM100

A ROS 2 vision-language-action manipulation pipeline for language-conditioned pick-and-place, integrating OpenVLA/Octo, SAM 2, and depth perception with IK and MoveIt 2 in a closed-loop observe → predict → execute architecture.

ROS 2 · OpenVLA · Octo · SAM 2 · MoveIt 2 · Gazebo · Diffusion Policy

UGV BEAST

Autonomous UGV — ROS 2 Autonomy & AI Platform

A ROS 2 autonomy platform for the Waveshare UGV Beast integrating LiDAR SLAM, Nav2 navigation, YOLO perception and behavior-based autonomy, with a distributed web control architecture across React/FastAPI, Raspberry Pi 5 and ESP32 with safety-gated robot control.

ROS 2 · Nav2 · Cartographer · YOLO · LiDAR · OAK-D · Raspberry Pi 5 · ESP32

FUSION2ROS

Fusion2ROS — CAD → ROS 2 Automation Pipeline

A Fusion 360 → ROS 2 pipeline converting robot assemblies into URDF/Xacro, ros2_control, Gazebo and MoveIt 2 / Nav2 packages from a shared robot model, with automated validation and Windows↔WSL build/launch integration — generators exercised against real ROS 2 tooling.

Python · ROS 2 · Fusion 360 API · ros2_control · colcon · Gazebo

ROARM-M2

Waveshare RoArm-M2 — Vision-Guided Control

A ROS 2 control and perception system for the Waveshare RoArm-M2 robotic arm, using MoveIt 2 and IKFast for motion planning and real-arm execution. Integrates YOLOv8 vision with a browser-based dashboard for object detection and click-to-move control, using monocular camera geometry and ray-plane projection for tabletop object positioning — split across a Raspberry Pi 5 and WSL2 connected via Tailscale and CycloneDDS.

ROS 2 · MoveIt 2 · IKFast · YOLOv8 · Raspberry Pi 5 · Tailscale · CycloneDDS

Let’s connect

I’m always open to discussing robotics, autonomous systems, or new projects. Just reach out!

See projects