Projects
A few things I've built, broken, and rebuilt.
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clankeRS
A Rust SDK for robotics teams on ROS 2 and PyTorch: train in PyTorch, deploy ONNX inference in Rust, and replay-test nodes against real MCAP robot logs before they hit hardware.
beyondOPD
Research on cheap methods for surpassing the teacher in on-policy distillation. Tries confidence-scaled (CSOPD) and verifier-gated hindsight (VGHOPD) objectives that reweight and outcome-gate distillation without extra rollouts or a task reward.
Beluga
A ~2880 Elo UCI chess engine written from scratch in Rust. Bitboard board representation with magic-bitboard move generation, an iterative-deepening PVS search with a transposition table and Lazy SMP threading, and a tapered handcrafted evaluation.
Mako
A heads-up no-limit hold'em poker bot trained with external-sampling linear MCCFR in C++. Suit-canonicalized equity bucketing over a coarse action abstraction, shipped strategies at 20/50/100 BB.
ros2_rust
Open-source contributor to the Rust bindings for ROS 2. Added Clock sleep and async sleep APIs (sleep_for / sleep_until and their async variants) aligned with rclcpp semantics, so timers can yield to the executor under simulated time without blocking.
Secrets
A cinematic, AI-powered social deduction game for the terminal — a 7-player Avalon spin-off where you play a lone human against LLM agents that argue, accuse, and scheme in real time. Powered by local Ollama models.
liteRAG
A Next.js and FastAPI demo that builds tiny LiteRAG (LEANN) and Chroma indexes side by side, compares on-disk storage, and queries both — highlighting LiteRAG's smaller footprint with comparable retrieval on the demo dataset.
MNIST Neural Network from Scratch
A neural network implemented from scratch with only NumPy and pandas — no TensorFlow or PyTorch. Fully-connected layers with ReLU and softmax trained via backprop on MNIST, reaching ~94% test accuracy while making the underlying linear algebra explicit.
Kalman Filter for Autonomous Vehicle
A Kalman filter for sensor fusion on an autonomous RC car built by Formula Electric @ Berkeley. Fuses noisy sensor streams into an optimal state estimate for a linear-Gaussian system, with prediction/update steps and visualization of the tracked state.