Projects

A selection of research projects and theses I have worked on.

Flow-Based Models for Motion Planning and Control: Design and Fine-Tuning

Master Thesis – ETH Zurich & SUPSI – Feb 2025 - Sep 2025

• Implementing learning-based controllers for robots (Franka manipulator and Unitree quadruped) using flow-based generative models
• Proposing an approach for fine-tuning flow-based generative models via reinforcement learning
• Evaluating the approach on manipulation tasks and locomotion control tasks

Closing the Sim-to-Real Gap for Quadruped Robots

Semester Project – ETH Zurich – Sep 2023 - Jan 2024

• Implemented simulation environment for Unitree Go1 and A1 in the NVIDIA Isaac Sim simulator
• Implemented depth camera simulation and worked on closing the sim-to-real gap
• Implemented actuator simulation for legged robots in NVIDIA Isaac Sim

Development of a Distributed Obstacle Avoidance Algorithm for Quadcopter Swarms

Bachelor Thesis – RWTH Aachen University – Mar 2022 - Jul 2022

• Implemented an obstacle avoidance algorithm based on distributed Model Predictive Control
• Integrated a grid-based high-level planner into the algorithm
• Simulation with gym-pybullet-drones

ROS for Healthcare

Project Participation – Swiss Paraplegic Research – Feb 2024 - May 2024

• Implemented ROS bridge for IMUs
• Implemented multiple-IMU connection