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clementdumeril/README.md

Clément Dumeril

MEng student in Control of Robotic and Autonomous Systems at UC Berkeley (May 2027); capstone at the Agile Robotics and Perception Lab (Prof. Giuseppe Loianno). I work on model-based control and learned dynamics models for robots.

  • Fixed-Wing: fixed-wing simulator where SAC policies fly the control surfaces; in wind, the best of 3 seeds completes 99 of 100 test flights, a PID 97.
  • turtlebot-nmpc: acados NMPC that predicts lidar-tracked obstacles 3 s ahead; in Webots it avoided a person crossing at 0.5 m/s in 6 of 7 runs, Nav2 MPPI in none of 3.
  • WingJEPA: latent world models of a fixed-wing UAV; in calm air, a physics head predicts open loop within tolerance for a median 11.4 s, plain JEPA 1.9 s.
  • GeneticWing: flatness-based soaring trajectory planning in simulation, with a flow-matching student that plans in 30 to 50 ms.
  • ur-pen-signature: a UR7e grasps a pen with residual PPO and signs with force control, in MuJoCo: 84% grasp success under camera error, against 74% scripted.
  • PIXIE: reimplementation of PIXIE (6D pose from one RGB photo and a CAD model), plus a per-part assembly check.

Also: quadrotor-ros2, ur5e-neural-kinematics.

Website · CV · LinkedIn

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  1. Fixed-Wing Fixed-Wing Public

    Low-level SAC control of a fixed-wing UAV vs a cascaded PID: NumPy and C++ (RLtools) simulator, PX4 SITL via ROS 2

    C++ 1

  2. GeneticWing GeneticWing Public

    Soaring planner for a simulated sailplane: genetic search in a learned command space, distilled into a 0.24 s generator

    Python

  3. WingJEPA WingJEPA Public

    Learned world models of a fixed-wing UAV: JEPA, direct and physics-head models compared open loop in 6-DoF simulation

    Python 1

  4. PIXIE PIXIE Public

    From-scratch PIXIE reimplementation: zero-shot 6D pose from one RGB photo and a CAD model, plus a per-part assembly check

    Python

  5. tello-balloon-hunter tello-balloon-hunter Public

    EECS C106A/206A Fall 2026: Tello drone localizing with ArUco markers (TF + EKF) and popping balloons

    Python

  6. whoop-airfoil whoop-airfoil Public

    Whoop with a foam plate: L2F-style RL training in RLtools and data-driven system identification

    C++