adamheins

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Adam Heins adamheins

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Postdoctoral Fellow at the University of Toronto's Acceleration Consortium. Working on robotics and AI for accelerated materials discovery in self-driving labs.

87 followers · 8 following

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adamheins/README.md

Laughing and crying while writing software to make hardware move. I also write a blog.

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learnsyslab/upright learnsyslab/upright Public

[RA-L 2023, 2025] Model predictive control and trajectory optimization for fast nonprehensile object transportation with a mobile manipulator.

Python 147 13
xacrodoc xacrodoc Public

Compile xacro files to plain URDF or MJCF from Python or the command line (no ROS required).

Python 75 7
learnsyslab/force_push learnsyslab/force_push Public

[RA-L 2024] Quasistatic robotic planar pushing with single-point contact using force feedback.

Python 13 1
pyb_utils pyb_utils Public

Utilities for PyBullet, including collision detection, ghost (i.e. visual-only) objects, cameras, and more.

Python 72 11
learnsyslab/visual_servor learnsyslab/visual_servor Public

[AIM 2026] Interactive robot waiter and nonprehensile object transportation with a hanging tray.

Python 1
uplite uplite Public

Lightweight trajectory optimization for the robot waiter problem.

Python 13