Jocelyn Deleuil

Experimental ROS 2 stack exploring a local vision-language model as a high-level reasoning layer while conventional robotics remains responsible for motion. Temporal RGB observations become structured social decisions with freshness checks and hysteresis before semantic trajectory scoring and Nav2/MPPI execution. Qwen3-VL runs through vLLM on Jetson AGX Orin, with HuNavSim reactive pedestrians and a reproducible nine-scenario benchmark.

ROS 2 · Nav2 · MPPI · Qwen3-VL · vLLM · Jetson AGX Orin · HuNavSim

Co-Founder and Software & Embedded Systems Lead for a modular wheeled-biped humanoid research platform at ENSTA. The program covers ROS 2, embedded firmware and electronics, CAN architecture, state estimation, optimal control, reinforcement learning, simulation, and the transition from digital models to a physical robot.

PHARE on GitHub

I develop autonomous goalkeeper behaviors in C#, including stereo-camera 3D ball reconstruction, ballistic trajectory prediction, reactive positioning, and shot interception with a two-axis arm. The team finished world runner-up at RoboCup 2026 in Incheon, South Korea.

Robot Club Toulon on GitHub

I founded and led the team around an autonomous holonomic robot built with ROS 2, Nav2, MPPI, multi-sensor localization, and online task planning. We took the system from simulation through integration and competition, finishing 17th out of 89 teams in the Senior category in 2026.

FIPATECH on GitHub