Hi, I’m Vipin.

I’m a software engineer at Google. This is my corner of the internet for sharing notes on systems, AI, and things I’m building and learning.

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Recent Notes All notes ↗

Training a Robot Arm to Pour Water from Three Cameras

September 26, 2026 · 6 min read · Code: github.com/vssinghh/floraflow ↗

What I learned across 17 training runs teaching a simulated robot arm to pick up a watering can and pour water into a plant pot using only camera images and joint angles.

Things I’ve Built More on GitHub ↗

AlloyFlow ↗

Multi-task Vision Flow Matching for a physical 6-joint SO-ARM101 robot arm across simulation, real hardware, finetuning, and co-training.

FloraFlow ↗

Teaching a simulated Franka robot arm in PyTorch and MuJoCo to pick up a watering can and pour water into a plant pot from three camera feeds.

Google VPN Libraries ↗

Core Android VPN client libraries powering the hardware-integrated Pixel System VPN across tens of millions of Pixel devices.

Hush ↗

Privacy-first voice notification manager for Android powered by on-device Gemini Nano.