Autonomous Heavy Machinery

As a founding engineer at Bedrock Robotics, I lead the behavior ML effort — training, evaluating, and iterating on end-to-end policies that operate heavy machinery on real construction sites.

Fully Autonomous Excavator Run — A nearly hour-long autonomous excavator run completed with zero human interventions.

Autonomy Deployed Across Three Sites — Bloomberg on how we brought autonomous driving to construction, deploying autonomously to three sites.

Autonomous Vehicle Perception

CramNet: Camera-Radar Fusion with Ray-Constrained Cross-Attention for Robust 3D Object Detection — Co-authored this camera-radar early fusion object detector, published at ECCV 2022. It paved the way for long-range, principled, and efficient camera-radar fusion using dense imagery that is robust to various error modes.

Hierarchical Deep Stereo Matching on High-Resolution Images — Designed and implemented a novel approach to deep stereo vision on high-resolution images in real time, published at CVPR 2019.

cm-Level Ground Height Maps — Patented a method for cm-level precision ground height maps using a Gaussian Process, Poisson Surface Reconstruction, and several other hacks. I implemented the Gaussian Process stage of the pipeline with GPflow.

Misc Sensing Applications

Drone-Mounted Lidar Mapping — Designed and hand-built a data-collection system around a Hokuyo scanning lidar for drone deployment, used to map bridges in the Metro-Detroit area like this one under the guidance of Dr. Timothy C. Havens. The drone flew the sensor kit I developed.

Camera-Lidar Pose Estimation — Added a camera to the same collection system to test a camera-lidar sensor fusion system for pose estimation. Additional documentation and imagery here.

Railroad Wheel Contamination Detection — Built hump-yard sensing for detecting contaminated railroad wheels as undergraduate research, written up in a National University Rail Center research brief.

Open Source

Qiskit — Fixed pulse visualization in IBM’s quantum computing SDK to respect the user’s matplotlib rcParams rather than overriding them (Qiskit/qiskit#4470, merged 2020).

Minima — Added Google Scholar to the built-in social links of Jekyll’s default theme (jekyll/minima#673, merged 2022). The scholar icon in this site’s own footer is that contribution.