Attention-Driven Gaussian Modeling for Total Duration of Heterogeneous Operations 2025

Case study: trailer loading with multi-SKU shipments.

Two-stream encode–attend–fuse architecture that ingests global operation features and per-item (sub-operation) features, and predicts both a baseline duration and its uncertainty σ with a heteroskedastic Gaussian head.

Gradient-Based Image Synthesis via Score Matching 2024

Implemented a Noise-Conditional Score Network (NCSN) for generative modeling, following Song & Ermon (2019).

Deep Reinforcement Learning for Robotic Manipulation 2023

Implementation of Deep Deterministic Policy Gradient (DDPG) with Hindsight Experience Replay (HER) for robotic manipulation task using xArm6.

Differential Drive Robotic Manipulator 2024

Extended Kalman Filter with Corner-Based Landmark Localisation 2024

Gazebo simulation of a differential drive robot, fusing wheel-encoder odometry with LIDAR landmark (corner) detections using an Extended Kalman Filter (EKF).

The EKF corrects pose estimation with measurement updates from detected corners for continuous, drift-reduced localisation.

Image-Based Visual Control Implementation for a Differential Mobile Robot 2024

Implementation of a control strategy mapping image-point errors to differential-drive commands, following Siradjuddin et al.

SceneGrasp: Multi-Object 3D Reconstruction, Pose & Grasp Prediction 2024

Implementation of Samsung’s SceneGrasp model for multi‑object 3D reconstruction, 6DoF pose, and grasp prediction in an UR5 robot and external RGB‑D camera setup .

Design of the ROS1 system considering robot kinematics and multi-frame of reference translations.

Reinforcement Learning on xARM6 with ROS 2023

Implementation of a self-trained Deep Deterministic Policy Gradient (DDPG) model for xARM6 tilt-stable navigation and manipulation tasks using ROS.

xArm6 Visual Servoing 2023

Implementation of visual servoing techniques for the xArm6 robotic arm, enabling precise control based on external camera's visual feedback.

Autonomous Driving of Differential Mobile Robot 2023

Development of an self-driving vehicle prototype using ROS1, YOLOv5, and Nvidia Jetson Nano. Autonomous navigation system prototype using CV-based traffic signals detection and line following with adaptive linear control.