Founder · Consequential Technologies, LLC
Robotics consultant with ~20 years of experience building manipulation systems.
PickNik Robotics · 2024
Created MoveIt Pro integration and simulation environment.
Visual servoing + admittance control to grapple a moving satellite mockup with a space-qualified arm. AprilTag-driven state estimation feeds a Fuse-tracked target.
Learn more →PickNik Robotics · 2024-2025
Contributed to PickNik's broader ROS 2 / MuJoCo integration.
Sensor plugins, configuration tooling, and integration glue underpinning MoveIt Pro's MuJoCo simulation, including the 3D LiDAR sensor in the hangar scene shown here.
Learn more →Outrider · 2018-2024
Wrote large sections of the TrailerConnect codebase.
Deep-learning-driven robotic arm that connects brake lines between yard trucks and gladhands in real industrial conditions. Now in commercial deployment with 100k+ autonomous trailer moves.
Learn more →Personal research · 2026
Currently exploring.
End-to-end pipeline from open-source VLA checkpoint to fine-tuned policy on a household manipulation task (microwave open). Baseline vs. fine-tuned comparison across multiple model families, run as a self-test of the open-VLA workflow.
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University of Chicago DSI · 2025
Consultant.
Hands-on collaboration on GRPO-style RL post-training. Replicated existing experiments and contributed to the development of new training protocols.
Open source · 2025-2026
Built and maintain.
Benchmark for evaluating LLMs on parametric CAD generation via CadQuery. Tests whether a model can produce runnable, geometrically-correct part definitions from natural-language prompts.
Learn more →Open source · 2025
Author.
MCP server exposing the Gemini CLI to Claude Code (and any other MCP client), enabling cross-model handoffs from inside a single agent loop.
Learn more →HDT Robotics (now BLADE) · 2014-2018
Wrote the motor control and teleoperation code; drove the demos.
Dexterous bimanual Adroit manipulators originally derived from prosthetic-arm hardware.
Learn more →HDT Robotics + Cleveland Clinic · 2014-2018
Lead software engineer.
HDT Tactors deliver multichannel haptic feedback for bionic-integration research at Cleveland Clinic, restoring intuitive touch sensation to amputees through targeted vibration on reinnervated skin.
Learn more →HDT Robotics · 2014-2018
Software developer.
Robotic gait and balance trainer, including partial body-weight support with admittance-style force following, catching the patient if they fall.
Learn more →HDT Robotics · 2014-2018
Software developer.
Hybrid-electric unmanned ground vehicle with 1,000 kg payload. Selected by the U.S. Army for the S-MET Increment II program, currently in production.
Learn more →HDT Robotics / APL · 2010-2014
Lead software engineer.
Early prosthetic-arm research that fed into the Adroit family later at HDT.
HDT Robotics · 2010-2014
Lead software engineer.
Protector tracked UGV — HDT's earlier-generation platform that informed today's Hunter WOLF.