This repository contains a collection of my Master's and personal projects, showcasing work in algorithms, robotics, optimization, and autonomous systems.

• Backgammon (Tavli) Algorithm
  Implementation of a backgammon game algorithm coded in C.

• Planning and Decision Making for Autonomous Robots
  Coursework projects focusing on motion planning and control for autonomous robots. Includes:

  • Searching Algorithms: Techniques for pathfinding and navigation.
  • Dubins Car Model: Planning paths for vehicles with constrained turning radius.
  • Markov Decision Processes (MDP): Modeling robot navigation as a sequential decision-making problem. The robot chooses actions to maximize long-term rewards while accounting for uncertainties in the environment.
  • Rocket Landing Optimization: Successive Convexification (SCvx) approach for rocket landing, including slack variables to avoid collisions with obstacles like walls.
  • Autonomous Vehicle Trajectory Planning: Frenet-frame optimal trajectory generation using quintic lateral and quartic longitudinal polynomials, with dynamic obstacle avoidance via polygon-based collision checking and adaptive speed control in crowded traffic.

• Computer Vision
  Project from the Computer Vision Class (Prof. Dr. Marc Pollefeys).

  • Harris Corner Detection and Feature Matching This project implements Harris corner detection and feature matching between image pairs using hand-crafted descriptors (image patches).
  • SegNet Light A compact implementation of the SegNet architecture for semantic segmentation, designed for digit/background segmentation tasks
  • Structure-from-Motion (SfM) Pipeline This project implements an incremental Structure-from-Motion pipeline that reconstructs a 3D scene from unordered 2D images using only feature matches and camera intrinsics.

• German Sentence Generator with Speech Synthesis

  A web application that generates natural German sentences from a set of words, provides English translations, and synthesizes German speech.
  Features adaptive learning: words the user doesn’t know are prioritized in future rounds for personalized vocabulary practice.

• Coming Soon

  My current project focuses on dexterous manipulation for assembly tasks. The approach builds on ideas introduced in the paper “Imitation Bootstrapped Reinforcement Learning” by Hengyuan Hu et al. It begins by learning a policy from expert demonstrations, which is then reused as a guiding prior to improve exploration efficiency and learning stability during reinforcement learning, in parallel with directly incorporating demonstrations into the RL pipeline. In the final stage, this RL framework will be applied to train a residual policy on top of a diffusion policy. Stay tuned!

Note: This is the first time I am running the RL policy. Its motion is going to become smoother!

• Most projects are implemented in Python and C.
• The repository is structured by course/project for easy navigation.

Feel free to explore the folders to see the implementations and examples of usage.

Rocket Landing Optimization

Autonomous Vehicle Trajectory Planning

Backgammon (Tavli) Algorithm

Computer Vision

Harris Detector

SFM