Teaching

Control, robotics, electronics, and programming

I have given lectures on optimal control and learning and have served as a TA for robotics, electronics and programming courses including labs and recitations. The courses below are grouped by institution, with my role and teaching semesters listed for each.

Philadelphia, Pennsylvania

University of Pennsylvania

At Penn, I am the lead teaching assistant for autonomous racing (ESE6150) and have served as a teaching assistant for linear systems (ESE5000) and introduction to robotics (MEAM5200).

ESE 6150 · Lead Teaching Assistant

F1/10 Autonomous Racing Cars

Fall 2026 · Spring 2026 · Spring 2025 · Spring 2024

I give different tutorials ranging from setting up the cars and debugging ROS nodes to applied optimization and reinforcement learning. I give lectures on optimal control, model predictive control, stochastic optimal control, and reinforcement learning. Students implement and evaluate autonomous driving algorithms on 1/10-scale cars, connecting the mathematical formulation of a controller to its computational and experimental requirements.

I developed the course's reference MPC implementation, reducing computational overhead through solver integration, sparse matrix formulations, and code generation. This made the controller suitable for real-time execution on the cars.

ESE 5000 · Teaching Assistant

Linear Systems

Fall 2024

I served as a teaching assistant for this graduate course in linear systems theory. Responsibilities include holding office hours and grading.

MEAM 5200 · Teaching Assistant

Introduction to Robotics

Fall 2023 · Spring 2023 · Spring 2022

I served as a teaching assistant across three semesters. I developed an AprilTag vision system for the course’s Franka Panda arms and implemented emulated cameras in Gazebo for the corresponding simulation environment.

Beirut, Lebanon

American University of Beirut

My teaching experience began at AUB, where I worked as a teaching assistant in programming, electronics, and electronic circuits. These roles included helping students with laboratory work and recitation sessions, and grading assignments and quizzes.

EECE 311 · Teaching Assistant

Electronic Circuits

Spring 2019

Supported students in electronic circuits through recitation sessions and assessment.

EECE 310 · Teaching Assistant

Electronics

Fall 2018

Supported electronics teaching through recitation sessions and grading.

EECE 230 · Teaching Assistant

Introduction to Computation and Programming

Spring 2018

Assisted students with programming laboratory work and their introduction to computational problem solving.