# Projects

## Self-driving algorithm with TD3 for TurtleBot3

**Master's thesis · Universidad de los Andes · 2022 — 2025**

Designed and trained a reinforcement-learning policy that drives a
**TurtleBot3** mobile robot autonomously in the **Gazebo** simulation
environment.

```{admonition} Highlights
:class: tip

- **TD3** (Twin Delayed Deep Deterministic Policy Gradient) for continuous
  control of the robot's linear and angular velocities.
- Integrated **ROS2** topics for sensor input (LiDAR, odometry) and actuation.
- Iterated on reward shaping and observation design to handle obstacle
  avoidance and goal-reaching in cluttered environments.
- End-to-end pipeline: simulation setup, training loop, model evaluation, and
  policy deployment back into Gazebo.
```

## Coming soon

I plan to write up additional projects here — including some of the open
work and side experiments around web tooling and AI-assisted development.