This repository is an index of my machine learning projects and research-oriented experiments.
| Project | Status | Focus |
|---|---|---|
| Humanoid Soccer RL | In progress | Building a reproducible robot-learning platform around a Unitree G1 football task in MuJoCo, with controlled experiments on rewards, curricula, and hierarchical policies to compare learning strategies and analyze the resulting policies' generalization. |
| RGB-D Relative Pose Matching | Completed | A controlled RGB-D relative pose study comparing ORB with SuperPoint + LightGlue on TUM RGB-D, using the same depth, PnP-RANSAC backend, pose-error metrics, and frame-gap evaluation protocol. |
| Surgical Scene Segmentation - CholecSeg8k | Completed | A computer vision project on CholecSeg8k with DeepLabV3-ResNet50, focused on building a clear baseline and explaining the dataset and evaluation choices behind the results. |
| GPT-2 124M Reproduction | Completed | Reproducing the GPT-2 124M architecture and training pipeline in PyTorch, guided by Karpathy's build-nanogpt tutorial. Trained on FineWeb-Edu 10B with cloud A100 GPUs, checkpointing, and offline HellaSwag evaluation. |