featured builds
Calliope — labeled robot diagram ◉ completed · 2024 Calliope · FRC Team 6418
Dynamene — labeled robot diagram ◉ completed · 2025 Dynamene · FRC Team 6418
sidequest projects
◌ in progress Holographic Camera Display
5-BAR MECHANISM ◎ dormant 5-Bar Linkage / Quadruped
PULL-OUT WHITEBOARD ◎ dormant
◎ dormant Rubber Duck Flinger
ESE 2000
x ∈ ℝⁿ z = W·x + b linear transform W b h = σ(z) ŷ ∈ ℝᵐ feedforward layer
ŷ = σ(Wx + b)
L = −Σ y log ŷ
∂L/∂W = ...

→ backprop
BLOOM BOARD 3×3 · servo-actuated · 3D printed ◌ in progress Bloom Board
Current Obsessions
Program Verification turning programs into first-order logic; generator construction
encoding programs as FOL formulas, then searching for counter-examples via generators
Physical Intelligence how robots learn dexterous, adaptive physical skills
the gap between simulation and real contact; manipulation as the hard frontier of embodied AI
Topology as higher-level math; the language underneath
open sets as the right abstraction; continuity as a structural property, not a metric one