Maurice Rahme moribots

🐢

working on robots!

<3 robots

Achievements

moribots/README.md

CTO @ Minerva Humanoids. Ex-Boston Dynamics.

I work across whole-body controls, dexterous manipulation, teleoperation, motion retargeting, and sim-to-real robot learning.

Minerva Humanoids: humanoid robot software stack for training, validating, and deploying whole-body robot behavior.

motion_planning motion_planning Public

Motion Planning Library to accompany turtlebot3_from_scratch repository. Deployed PRM, Grid Map, A*, Theta*, LPA*, D* Lite*, Potential Field, and MPPI.

C++ 201 40
turtlebot3_from_scratch turtlebot3_from_scratch Public

Turtlebot3 with EKF SLAM and Inverse Kinematics from Scratch

C++ 27 13
2d_arm_diffusion 2d_arm_diffusion Public

Training a simple diffusion policy for 2D arm control in push tasks. There's also a script to generate jupyter notebooks to upload to cloud GPU services (e.g Kaggle)

Python 7
final-project-checkers final-project-checkers Public

A Baxter Robot learns to play Checkers with MoveIt, OpenCV and a custom AI move-generator that uses Minimax with Alpha-Beta Pruning

Python 5 1
attention_viz attention_viz Public

Attention visualization for Mechanistic Interpretability

Python
OpenQuadruped/spot_mini_mini OpenQuadruped/spot_mini_mini Public

Dynamics and Domain Randomized Gait Modulation with Bezier Curves for Sim-to-Real Legged Locomotion.

C++ 953 195

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