Work

Bimanual Rubik's pick, handoff & π0.5 sim-to-real

~2k Isaac Lab episodes across parallel envs; π0.5 on mid-air handoff (right→left→place); strong real-robot results.

Iterating reward shape on an RL reach policy

A PPO + diff-IK reach policy with obstacle avoidance — moved from a stuck ~18-mm plateau to roughly 5-mm position / 1° orientation by iterating heavily on reward shape. Intended to feed a VLA dataset pipeline that replaces scripted trajectories.

🔬 Benchmarking Gr00t & Sim-to-Real on the SO100 Arm

Isaac Sim datasets, Gr00t/π0 fine-tuning, and closed-loop success on real hardware (DL-RL).

Packing scene dataset with deformable bag simulation

Synthetic packing data on a Richtech-class bimanual setup; highlights soft-body / bag physics for contact-rich manipulation.

Automating Data Generation and AI Inference with myCobot 280 PI & iPhone App

VR teleoperation for dual arms & hand gripper

VR stack to command both arms and a hand-style gripper—natural grasping on diverse objects for data collection and testing.

Company robot fleet in Isaac Sim

Migrated Richtech robots into Isaac Sim — bimanual arms, grippers, and mobile bases without manipulators.