projects
A selection of things I have built and worked on.
Dual-Arm Robotics Real-World Setup
A modular perception-to-execution pipeline for a heterogeneous xArm7/xArm6 dual-arm grasping setup with Dynamixel grippers and Intel RealSense RGB-D cameras.
Inverse Kinematics for Underactuated 5-DOF Manipulator
A Jacobian-based IK solver with damped least squares for a 5-DOF underactuated manipulator, handling infeasible targets via task-space projection.
LG-DimABSA
A structured pipeline for aspect–opinion extraction and valence–arousal sentiment regression, combining rule-based parsing with transformer models.
Hyperbolic Geometry for Hierarchical Representation Learning
A study of Poincaré ball embeddings for representing hierarchical data, deriving Riemannian gradients and analyzing curvature-induced effects on optimization.