PAIR: Port Alignment Insertion Robot
A robust robotic manipulation system combining Eye-in-Hand visual servoing with force-guided spiral search for sub-millimeter precision USB-C insertion.
Robotics
Constrained RL for Safe Legged Locomotion over Transient Terrain
ME 193B project exploring constrained RL for humanoid locomotion on dynamic stepping stones using IsaacLab and MuJoCo.