Research & Projects

Some conference presentations are preserved as YouTube videos, and some previous projects are attached as well.

arXiv 2026ResGAC: Precise SE(3) End-Effector Tracking in Whole-Body Humanoid Control

Project website: ResGAC · Paper: arXiv

RA-L 2023Geometric Impedance Control + Learning

Project website: equivariant-task-learning. Left: experimental & supplemental video. Right: recorded presentation for IROS 2024.

IFAC WC 2023Geometric Impedance Control

RA-L 2022Nonaffine + Safety-critical Autonomous Vehicle Control (ICRA 2022)

TCST 2021Helicopter Control Project

CourseSawyer Maze Solver — ME 106/206A Final Project

Project website: website

CourseSawyer Plastic Bag Grasper — EECS 106/206B Final Project