Projects

Portfolio

Open-source robotics and reinforcement learning work — tutorials, environments, and tools.

Six DoF Robotic Arm Simulation

A step-by-step tutorial to simulate and control a 6 DoF robotic arm in Gazebo and ROS 2 — from URDF files to trajectory controllers.

GazeboROS 2URDF

Tutorial Code

Custom RL environment: robotic arm and green target sphere in Gazebo

Custom RL Environment for a 6 DoF Arm

A custom reinforcement learning environment to test your RL algorithms, including a robotic arm and a visual target point. Migrated to ROS 2 Jazzy + Gazebo Harmonic.

RLROS 2 JazzyGazebo Harmonic

Tutorial Code

ReinforceUI-Studio

A Python application with a graphical interface to simplify configuring and monitoring RL training. Supports MuJoCo, OpenAI Gym, and DeepMind Control Suite.

PythonMuJoCoOpenAI GymDM Control

Code Docs