Projects

Some things I have built. The rest are on my GitHub.

Robotics and perception

slam-rs

A Rust library for building SLAM systems: visual odometry, triangulation, and bundle adjustment.
mast3r-loc

Localization experiments built on MASt3R correspondences.
mpc-competition

Model predictive control for a robotics competition. Code.
SO-101 inverse kinematics

Inverse kinematics for the SO-101 arm, with Vignesh Vembar.

RISC-V processor

Five-stage pipelined RISC-V core in SystemVerilog with hazard handling and branch prediction. Code.
Theremin

A portable analog theremin with a single pitch antenna, designed in LTspice and built on a breadboard with Vaibhav Wadhwani.
4-bit carry look-ahead adder

A 4-bit CLA adder in 180 nm, simulated in ngspice, laid out in MAGIC and run on an FPGA in Verilog.

Sugar Toolkit GTK4

The Sugar activity toolkit ported to GTK4 in Python, part of the Sugar desktop migration I lead at Sugar Labs. On PyPI. Code.
Yappus-Term

A terminal interface for an AI assistant, written in Rust. Code.
nix-flake-public

My public Nix flakes and system configuration.
Open source contributions

Local-first notebook infrastructure in Rust for runtimed and nteract, and contributions to the Zed editor.

Does geometry matter at the token level?

Hyperbolic token embeddings for language modeling, with Harshith Seera and Ronit Jalihal.
Functional analysis in signal processing and hyperbolic deep learning

DCT compression and analytic signals as orthogonal projections, and the geometry of the Poincaré ball. Code.
Manimator

Generates mathematical animations with Manim. Video. Code.
handwritten-to-LaTeX

Draw handwritten math and convert it to LaTeX.
vyasa

A detector for LLM-generated text, written in Rust. Code.