Robot Learning | Reinforcement Learning | Humanoids
Incoming M.Sc. student at Karlsruhe Institute of Technology (KIT). Computer Engineering graduate, Cukurova University. I work on RL fine tuning of vision language action policies on consumer hardware, and hierarchical control for humanoid robots.
mehmetturanyardimci@hotmail.com | LinkedIn | Google Scholar | arXiv | Portfolio
Online RL fine tuning of a flow matching VLA policy on a single 12GB consumer GPU, following the pi_RL approach. A verification first substrate: what trains is a logged fact, not an assumption. Project page
RL to IL to VLA pipeline for the Unitree G1: expert demonstrations from trained RL policies, distilled into end to end visuomotor policies (ACT, Diffusion Policy, GR00T N1.6).
VLM task planning (Qwen3 VL) over PPO locomotion and arm policies on the Unitree G1: walk, reach, grasp, drawer, pick and place.
Multi stage PPO curriculum for whole body G1 locomotion in Isaac Lab: velocity tracking, terrain, torso, arm coordination.
Also: BARN local planner benchmark (under review).
Open to research collaborations in humanoid robotics and robot learning.