Stephen Welch

About Me

I'm a software engineer at Apptronik, where I deploy reinforcement learning on humanoid robots.
Previously, I received an MS in Electrical Engineering from Virginia Tech, where I studied the intersection of control theory and deep reinforcement learning at the Terrestrial Robotics and Controls Lab.
Before that, I interned at Shield AI, where I built RL systems to control and coordinate things that fly.
For my undergraduate studies, I majored in Controls, Robotics & Autonomy with a degree in Computer Engineering.



▶Apollo Humanoid Robot
Deploying reinforcement learning on humanoid robots
▶Air Combat Evolution
Autonomous air-to-air combat using reinforcement learning
▶Golden Horde
Defeating air defense systems using expert systems and reinforcement learning
▶PANDORA
A 6ft-tall 3D-printed humanoid robot designed and built in-house
▶Deep RL for Force Control
A novel force controller for linear series-elastic actuators using reinforcement learning
▶Miniature Robot Arm
A miniature robot arm designed, built, and programmed by me
A small 3D-printed robot arm
▶FIRST Robotics Competition
Controls, UI, and logging for competition robots
A FIRST Robotics competition robot