Giving Coding Agents Something to Measure
What I changed in our RoboCup SSL control stack this summer so a coding agent could judge a change in minutes: 16x faster path planning, 11.5x smaller replays, and tools for finding stalled matches.
Robotics
Scaling Strategy Search, Evaluators, and the Agentic Coding Workflow
Our bet on scaling robot sports: why we believe coding agents can search strategy space better than human developers, and the infrastructure, debugging tools, and evaluation benches we built to let them hill-climb.
Strategy = Tactics × Orchestration
Why Behavior Trees broke down for multi-agent coordination, how modeling our scheduler after an OS kernel solved dynamic regrouping, and the three safety invariants that eliminate race conditions.
Leading Software for a Robot Football Team
An architectural overview of our RoboCup Small Size League robot control stack, lessons from our Great Exhibition Road Festival milestone, and open challenges as we scale to a full 6v6 squad.
Teaching a Robot Arm to See 100ms Into the Future
Most robot controllers have a delay. Commands take time to travel through software stacks, buffers, and hardware. For the Franka Panda arm I was working with in MuJoCo, this delay is exactly 100ms — five control steps at 50Hz. That sounds small. It is not. The problem A standard inverse kinematics (IK) controller does something simple: look at where the target is right now, compute the joint angles that would put the end-effector there, send those angles to the robot. ...