Side Projects
Flow Matching for Trajectory Generation
2025
I played around with flow-matching models to generate trajectories through cluttered environments. I really like the ability of flow matching models to capture multimodality, something often overlooked in traditional trajectory optimization.
GPU-Accelerated CasADi/IPOPT
2024
This spun out of my work on FOCI. Unable to find good documentation at the time, I wrote a short tutorial on how to implement custom function objects in CasADi to leverage GPU acceleration for large-scale optimization once I figured it out.
