Brain Hemorrhage Detection with DDPM Reconstruction
A diffusion model trained only on healthy brain scans flags hemorrhages via reconstruction error.
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3D-Printed Legged Robot
[Maintenance] Designed, printed, and walked a custom legged robot driven by a Raspberry Pi control stack.
Probabilistic Trajectory Reconstruction from Keyframes
[Ongoing] Reconstructing high-frequency robot trajectories from sparse keyframes with GPs and a masked VAE.
Twist-RL: Extending Force-Based Learning to Helical Manipulation
A robot-agnostic TD3 policy that unscrews helical joints by learning in object force-space.