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1. LeggedRobotics LeggedRoboticsPublic

   Bio-inspired CPG controller and CPG-augmented PPO/SAC deep RL for quadruped locomotion on a simulated Unitree A1 (PyBullet). EPFL Legged Robots, BioRob lab.

   Python 3

2. de1-soc-fpga-accelerated-video-pipeline de1-soc-fpga-accelerated-video-pipelinePublic

   Integer-only CNN accelerator targeting Cyclone V SoC: PyTorch quantisation, synthesizable VHDL convolution engine and bit-exact RTL verification. Full system integration in progress.

   VHDL

3. Thymiair ThymiairPublic

   Autonomous vision-based navigation for a Thymio II robot using obstacle detection, visibility-graph path planning, and EKF state estimation.

   Python

4. Noise2Noise Noise2NoisePublic

   Two Noise2Noise implementations for EPFL Deep Learning: an FFT-augmented U-Net (25.4 dB PSNR) and a full deep learning framework built from raw PyTorch tensors.

   Python

5. FPGA-Audio-Effect FPGA-Audio-EffectPublic

   Custom DMA and IRQ Sender IP cores in VHDL on Intel DE1-SoC. Dual Nios II processors coordinate over Avalon to record, FFT-filter, and play back audio.

   VHDL

6. BudgetRoomba BudgetRoombaPublic

   Fully autonomous Duplo brick collector for the EPFL Robotics Competition 2023. ROS 2, Nav2, Google Cartographer SLAM, custom YOLOv5-S detector trained on 8500 synthetic images, all in C++ on a Rasp…

   C++