🚀 About Me

I'm a robotics engineer specializing in Imitation Learning, Computer Vision, and Control Theory. Currently, I a Ph.D. Candidate in Mechanical Engineering (Robotics, Controls, and AI) at UCLA, under the supervision of Dr. Dennis Hong, and recipient of the Amazon AI PhD Fellowship. My Bachelor's Degree is in Mechatronics Engineering from Universidad Nacional de Ingenieria in Lima, Peru. I'm driven by a passion for bringing robotics projects to life using Artificial Intelligence. In my free time, I enjoy writing, watching sci-fi series, and drawing. "It always seems impossible until it's done" guides my journey. I find inspiration in Haruki Murakami's "Kafka on the Shore" and "1Q84." My portfolio showcases my expertise, projects, and dedication to pushing the boundaries of robotics, AI and Control.

Here are posts about me: ⭐''Personal Interview' & ⭐'Research Interview'

You can check out my CV and my featured projects.


🚀 TECHNICAL SKILLS

Artificial Intelligence + RL

IsaacGym, IsaacSim, MuJoCo, Pytorch, llama.cpp, TensorFlow, Keras, OpenCV, sckilearn, Recurrent Neural Networks. Specialization (30 hours, Final grade: 19/20).

Robotics

Jetson TX2, Jetson Orin Nano, Intel RealSense D435, RP Lidar A3, Raspberry, ROS, ROS2, Gazebo, ZED2, Freedom Robotics, Dynamixel, BEAR actuators. State-of-the-art robotics. Deployment on the field. Hardware and sensors.

DevOps

VS Code, Git, GitHub, Docker, Google Cloud Console, AWS S3, AWS Kinetic. Software Development. Control and Collaborative Platforms. Deployment. Cloud Computing.

Lab Equipment

Inverted Pendulum and Active Suspension (Quanser), Dexter (Haddington Dynamics). Experimental Validation of Control Techniques. Industrial, Collaborative Manipulators.

Software & CAD

C, C++, Python, Java, MATLAB, Simulink, LabView, COMSOL, PLC-SIM, AutoCAD, SolidWorks, Inventor, Protheus, Latex. Programming Skills. Integrated numeric computation platforms. 2D/3D Design. Electronics.

Microcontrollers

Arduino boards and sensors, Adafruit boards and sensors, PIC 16F877A, Teensy 4.0, STM 32. Hardware. Embedded systems. IoT. Electronics and Sensors.

Languages

Spanish (Native Proficiency), English (Full working Proficiency || TOEFL: 105/120), Portuguese (Working Proficiency).

Additional programs

Photoshop, Camtasia Studio 9, Microsoft Project, Lucid Chart. Edition and Video. Graphics Design. Project Management. Visual Charts


🚀 FEATURED PROJECTS

Deep Reinforcement Learning. I've been working on an exciting project aimed at replicating key behaviors of the DeepMind OP3 robots for soccer applications using Massive Parallel Deep Reinforcement Learning in simulation. Remarkably, Google's DeepMind has successfully trained these miniature humanoid robots to excel in football techniques, including tackling, scoring, and fast recovery from falls. Under the framework provided by the repository Legged Gym - RSL, I managed to teach these robots how to walk and kick a ball in different directions toward a goal on a soccer field based on RoboCup rules. Using Massive Parallelism allowed me to speed up the training process and fine-tune the rewards more effectively.

Visual Servoing. Innovative approach for accurately tracking the position of a soccer ball using a camera integrated into the RR robot’s neck. It will be tested at RoboCup 2023

Artificial Intelligence Research Optimization of MLP-Mixer Architecture among layers using a similarity analysis with a CKA kernel. University of Rhode Island

Novel technologies for Space + Robotics. Integral, end-to-end solution that seeks to automate the monitoring, production, and commercialization of agriculture processes on Earth and in outer space.

Field Robotics and Internet of Things Holonomic autonomous rover that captures video for the monitoring of fruit crops using Objection Recognition Techniques. Moreover it recognizes people with a YoloV3 algortihm. Article accepted for publication in Springer CCSI Series, and oral presentation in the SIMBig2021

Field Robotics and Exploration. An autonomous rover with a robotic arm, a soil sample extraction system, and airtight built-in compartments for sample retrieval.

Control Engineering. Novel cooperative resource-sharing dynamic technique that assures stability and a H2 guaranteed performance for the overall system using a Time-Varying Lyapunov Function.


🚀 POSTS + ACHIEVEMENTS

We've just demonstrated, on a global stage, that UCLA hosts the world's fastest humanoid! Yeah, RoMeLa!!!! The excitement of this achievement goes beyond words, and it's a true honor for me to be at the forefront of advancing its technology. Get ready for some incredible developments in the coming months; there are some truly interesting things in progress.

After a long wait, my application was selected by ETH RobotX and the Computational Robotics Lab to be ACCEPTED as one of the ETH Robotics Student Fellows. This has been a very competitive process with an acceptance rate of only 8.9%! This is going to be an amazing experience.

I will be teaching 'Introduction to Programming with MATLAB' at UCLA. I applied to this position at the MAE Department and I got accepted. I look forward to conveying how useful is this tool for engineering applications. Moreover, in Fall 2023, my advisor has granted me a TAship for his course 'Kinematics for Robotics Systems', super excited!

After a long wait, I am so glad to announce that I UCLA, Colorado School of Mines, UCSB, Oregon State University and University of Rhode Island have extended an offer to purse MS in their respective institutions!

REPU (Research Experiences for Peruvian Undergraduates) supports the development of technological and scientific capacity in Peru by facilitating the training of the new generation of Peruvian professionals in STEM.
I received on 12/4/2021 the notification that I was selected to participate in a research internship from January to March 2022 at the University of Rhode Island, US. It was a 4-months, extremely competitive selection process.
I am going to be under the supervision of Assistant Professor Marco Alvarez researching the Optimization of Neural Networks.

My performance during the MMAARS Virtual training level I generated a big opportunity for me and my career in the space industry.
Officially, I win a scholarship to attend a low-fidelity analog mission at the Mohavi desert with MMAARS!. In addition to the in-person training at a real Habitat, I will bring a robotic project that seeks to monitor and collect data of grape fruits at the GreenHab of the Habitat through protocols, routines, and methodologies that analog astronauts can do in Isolated Confined Environments (ICE).
This projects uses a holonomic rover called Magrito (v1.0) and Iota Tangle protocols as Distributed Registry Technology. Our crew called 2001 was interviewed by the "8 News Now" - Las Vegas virtual channel. (I appear in the min 1:20!)

The European Rover Challenge is one of the most competitive space robotics contests for research teams. We took the challenge to present all the documentation required by the event . Thank the effort of all our team members, we classified to the finals. The finals were undertaken remotely (PumiiPeru is in the chart).
We controlled a Leo rover at a Poland MarsYard from Peru using a cool platform called Freedom Robotics. We performed with the rover a simulated exploration mission that demanded us to validate a scientific hypothesis about the presence of life in the MarsYard. It was so marvelous and epic to take part in a simulated rover mission to Mars (I really felt like a NASA engineer controlling the Curiosity!!).
As a result, I set the goal to be a key technical member in the accomplishment of a real Rover mission. I am sharing the technical documents I have been working on for this project (Check them out in the “Repository”!)

I was so thrilled to participate in the annual congress (virtual edition) of the Space Generation Advisory Council (SGAC) called SpaceGen United (SGU). This event exposed me to inspirational talks with people, companies, and professional networks that are leading space exploration (Virgin Orbit, Boeing, Northrop Grumman, Lockheed Martin, SpaceX, etc.).
Additionally, within this event, I had the opportunity to attend the NASA Exploration Workshop whose subject matters were Michelle Rucker, Patrick Chai, Clark Etsy, and Nehemiah Williams (NASA technical specialists). I met really great people that encouraged me to pursue a STEM career in the space sector. The talks from the representatives of the space companies inspired me to strive to reach my goals and surpass every challenge that destiny could put in my way to space. Did you know that Pizza Hut became the first company to deliver pizza to supply the ISS for 1 million dollars? (The remarkable fun fact from the SGU trivia night)

This hackathon was hosted by the MIT Media LAB to focus on building solutions that address the most pressing issues of the COVID-19 crisis in Latin America. This was my first time participating in a virtual Hackathon ( indeed, in a hackathon!). There were 4 tracks where different topics were addressed. I joined Track G related to ‘Education issues during pandemic’.
I committed to this track because my university suffers from a lot of technical/logistics issues regarding virtual teaching. Thus, these issues triggered me to propose solutions in this field. My team’s proposal titled ‘Teacher4Teachers’ was selected to receive funding and support to make it true. I was in charge of presenting the final pitch for the judges. Hereby, I share the airtable of all winning teams and their wonderful solutions. In the airtable you can check the Track G - 031.



Due to my high academic performance and my achievements for the faculty, I decided to request to my university financial support for my research internship. After all the formal procedure was done, in the University Plenary session they approved the full financing that I requested (2212 USD)

Our trip to the United States was made possible by our diligence in seeking financing from private companies. In our intense search for networks and face-to-face interviews, we were able to obtain financing for 7 participants in travel and per diem.

In this photo we have the marks of our sponsors and we thank them publicly for their support. I am personally grateful for funding from the Engie Energia Company for financing my trip to Hunstville, Alabama.

And here everything started! NASA Human Exploration Rover Challenge features an engineering design challenge to engage students worldwide in the next phase of human space exploration. The annual event is a more complex follow-up to the successful NASA’s Great Moonbuggy Race.
I participated in person in the HERC edition of 2019 at the US Space & Rocket Center. Due to logistics problems, we managed to participate just in the oral dissertation of our reports. Our Telemetry and Electronics report presents the use of ‘ KNN for improving triangulation algorithm in pose estimation of Rovers and video streaming services using AWS. According to judges’ comments, they considered this overall proposal was innovative and worthed to receive a distinction.
Personally, I was astonished about the American culture surrounding the space industry, it is so close to them! It is hard not to be motivated to be an astronaut with such space centers and rockets museums. In this episode, I received a wink from the destiny to continue in this type of competition.


🚀 Repository

✔ Cooperative control



This scientific project has many stages. First, I developed the ‘Final undergraduate project’ during my research internship at UNICAMP, Brasil in 2019. Thus, this work presents an extensive development of an innovative control technique I proposed for Networked Control Systems (NCS). Later, I corrected some parts, summarized others, and finally, resulted in an article (‘Scientific article’) which has been published in the Journal of Control, Automation and Electrical Systems - Springer . Additionally, I recorded a demo video which helps to replicate my experiment. I really thank my mentors Ph.D. Grace S. Deacto and Ph.D. Lucas N. Egidio for their constant support to achieve this scientific work. Funny fact: I wrote the ‘Final undergraduate project’ in English because I barely could speak and write in Portuguese during my first months in Brasil. Article finished: Aug-2020.


Link to the Scientific article

Demo video of the experiment

Final undergraduate project

✔ PumiiPeru



I assembled all reports and presentations of all Pumii’s team members in one document, in Latex format. Initially, it was a Frankenstein; however, adding introductions, bibliography and transitions quite improved the writing. This document embodies all passion of Pumii’s members for investigation and space. I consider this our legacy for the younger Peruvian generation of aerospace engineers. Please, I invite you to take a look at the latest version of this great research document (I will update some sections soon, according to our progress!). Latest version: Dec-2020.



Rover Habich


This document presents all work packages, activities, and elements required to build the Rover Habich. In fact, in terms of tracking and systems engineering of the Rover, this matrix is a holy document for me. I completely share this work with you to complement the previous research document. Latest version: Dec-2020.



Rover Matrix


UNIDA University of Paraguay invited PumiiPeru to publish in its scientific journal about the work done with the Rover Habich. I worked on this article with a member of the mechanics team. Published: Jan-2021.



UNIDA Article Mechanical


Simulating the control of a real rover in a MarsYard was one of the most amazing experiences of my life. ERC 2020, due to the global pandemic, changed the organization of the contest and gave the teams the opportunity to control a little rover, simulate a scientific mission in a MarsYard in Poland, and present a scientific report about our conclusions.
I share with you our conclusions about this amazing experience! Finished: Oct-2020.



Marsyard_ERC2020



ERC required all participants to demonstrate mechanical, software, and construction progress in late May. The purpose of this was to determine which teams should classify to the finals. I designed and propose the guidelines to all team members to mutually work in this report. This document presents one of the first designs for the Rover Habich. Finished: May-2020.



Preliminary_ERC2020



This report introduces PumiiPeru to the organization of the ERC 2020. An overview of the team at an organization and academic level is presented. Finished: Mar-2020.



Proposal_ERC2020



This report was presented to the HERC 2019 for the AIAA Telemetry Award.



Telemetry report - Pumii


✔ Courses taught


A great percentage of my passion for space exploration entails robotics (more specifically rovers!). Together with my friend Piero Pisfil ( PumiiPeru team member), we taught the foundations of ROS focused on applications for space robotics. We used GitHub repositories and documentation we obtained from the ERC to nourish this course.
Thus, additionally to the standard syllabus to teach ROS, we gave explanations, examples, and insights of ROS, applied to Rovers. We gave these workshops first to our team members from UNIDA university (sponsor), and now we shared with the community. Enjoy this course for free, taught with full passion!


ROSvers