Computer engineering student at Fort Lewis College working on robot learning and embodied autonomy: benchmarks, simulation, controls, perception, and the embedded systems underneath them.
Portfolio: janga786.github.io · jangarabliss@gmail.com · LinkedIn
| Project | What it is |
|---|---|
| xembench | Cross-embodiment, language-grounded manipulation benchmark in ManiSkill3: one policy interface, a Franka Panda arm and a Unitree G1 humanoid. 6,550 baseline episodes with Wilson CIs, a data-flywheel round, a documented negative result on precision manipulation, 198 tests |
| k1-vlm-navigation | NaVILA vision-language model driving a velocity-tracking PPO locomotion policy on the Booster K1 humanoid in MuJoCo, with multi-step instructions, heading assist, and a real-robot deploy path (dry-run and live modes, watchdog, 58 unit tests) |
| k1_checkout_validator | ROS 2 cart-seek stack for the real K1: YOLO-World detection, odom-frame tracking, and a gated, hard-clamped Booster SDK bridge with a lost-target stop |
| rebot-crack-vision | Senior-design bridge crack-inspection arm (reBot B601-DM, 6+1 DoF): zero-shot crack segmentation, Jacobian/IK and minimum-jerk planning, and first powered hardware runs (Oct 2026): 7 motors over CAN at 200 Hz, gravity/friction feed-forward identified on the real arm, hold error ≤ 0.005 rad over 41 logged runs |
Canonical NaVILA-on-K1 benchmark results (1,077 episodes, simulation) and the evaluation-reliability evidence behind the AIRC 2027 paper in preparation are in k1-navila-research; the write-up is on the portfolio.
| Project | What it is |
|---|---|
| hexapod-cpg | Custom 18-DoF hexapod from the NASA Colorado Robotics Challenge: Kuramoto-CPG locomotion, IMU heading-hold firmware, mechanical CAD, 34-test verification suite |
| kuka-kr6-kinematics | From-scratch forward/inverse kinematics, geometric Jacobian, singularity diagnostics, and trajectory planning for the KUKA KR 6 R900, with a 39-test suite |
| lidar-pointcloud-motion-pipeline | Open3D + NumPy point-cloud motion analysis: PCA orientation, frame-pair motion detection, ICP rotation-rate estimation |
| CV-YOLO-Inspection | Synthetic-data inspection pipeline: Blender-rendered training data, YOLO11 detection, autoencoder anomaly detection |
| robot_vision | Synthetic labeled training data from a single photogrammetry scan, using Blender domain randomization into YOLO training |
| Baxter-Sawyer_Work_Station_Windows | Dockerized ROS 1 Indigo + ROS 2 Humble workstation with ros1_bridge for restoring and developing on Baxter/Sawyer |
| Project | What it is |
|---|---|
| basys3-fpga-portfolio | Six Verilog systems on the Artix-7: PicoBlaze + OLED, XADC SPI bridge, PS/2-to-UART stack, soft-core CPU, FSMs |
| arduino-mega-microcontrollers | Custom ATmega2560 PCB with production Gerbers, bare-metal 40 kHz ADC sampling, a hand-built IR link-layer protocol |
| cmos-vlsi-spice-portfolio | Transistor-level CMOS design in 0.6 µm SCMOS: 8-bit ALU, R-2R DAC + flash ADC, transmission-gate MUX, full gate library |
| Project | What it is |
|---|---|
| cpp-algorithms-portfolio | Six classical CS algorithms in self-contained C++17: union-find, MST, Huffman, optimal BST DP |
| basecamp | Mobile-first training and habits PWA (React + TypeScript + Vite, swappable localStorage/Supabase backend, Google Health API sync) |
| pacman-pygame | A complete Pac-Man clone in 443 lines of Pygame, with four target-chasing ghosts, power pellets, and a level state machine |
- Research Assistant, humanoid robotics (Fort Lewis College): integrated the Booster K1 into a vision-language navigation benchmark.
- Senior design, bridge crack-inspection arm (Fort Lewis College, team of two): CAN motor bring-up, kinematics and trajectory planning, and controller tuning on the physical reBot B601-DM.
- Team lead, NASA Colorado Robotics Challenge: led a four-person team that built and fielded an autonomous 18-DoF hexapod.
- Research Assistant, AI and robotics (Fort Lewis College): restored legacy Sawyer and Baxter robots and built synthetic-data and inspection tooling.
Python · C/C++ · ROS 1/2 · PyTorch · MuJoCo · ManiSkill3 · Isaac Sim · OpenCV · Verilog · EAGLE/KiCad · Docker