A summary of software I've helped develop, as well as some that I like and use. Most of my projects involve Python and MATLAB, but I've recently become enamoured with Julia.

Packages I've Contributed To

Extrinsic Sensor Calibration

I am actively researching new methods for "hand-eye" or "egomotion sensor" calibration. My colleagues and I have implemented some of these algorithms in certifiable-calibration, a Python and MATLAB repository.

Stay tuned for newer and shinier algorithms implemented in Julia with ROS integration!

Inverse Kinematics

My colleague Filip Marić and I are actively developing graphIK, a Python library for research into distance-geometric solutions to inverse kinematics for redundant manipulators in the presence of obstacles. We also developed MATLAB code for a sparse sum-of-squares approach to planar and spherical IK.

Representing Rotations in Deep Learning

I worked with Valentin Peretrouhkin on bingham-rotation-learning, a novel differentiable representation of \(\text{SO}(3)\) as a Bingham distribution for deep learning.

Resource-Efficient Cooperative SLAM

I worked with my colleagues at MIT on MATLAB code for resource-efficient "communication policies" for multi-robot cooperative SLAM.

Software I Like

Here's a list of tools I think everyone should know about!

Obsidian

I've never been a big fan of productivity software or fancy note-taking apps, but Obsidian's simplicity has charmed me! Simple hyperlinked markdown files that support LaTeX with little to no fuss.

Texpad

Texpad is easy to configure and wonderful to look at - worth every penny!

Franklin

I built this website with Franklin! I find it much easier to configure than Jekyll, and it's highly integrated with Julia.