Sep 2026 — Present · Robotics
Robotic Arm
A 4-DOF arm that autonomously completes Duolingo lessons on a physical phone.
- —Closed-form inverse kinematics and hand-eye calibration map a fixed-frame camera into the phone's plane; a VLM chooses the tap target.
- —Custom ESP32-S3 firmware in C++ drives 4 daisy-chained servos over a 1 Mbps half-duplex serial bus.
- —Validated in MuJoCo before touching hardware; teleoperated demonstrations logged as synchronized frames and joint states, with VLM tap accuracy benchmarked against a labeled eval set.
Build log
Assembling the robotic arm
01 / 03
01
pt. 1
0:00 / 0:00
C++ESP32-S3ROS 2MuJoCoOpenCVPython