Greg Horn
Member Of Technical Staff at OpenAI
Redwood City, California, United States
Summary
🤩
Rockstar🎓
Top SchoolGreg Horn is a hands-on technical leader and systems builder with 17 years of experience designing and shipping autonomy stacks for aircraft and heavy vehicles. He’s led motion control, trajectory generation, simulation, middleware, and platform architecture teams—bootstrapping codebases and delivering first-flight and on-road milestones at Kitty Hawk, Joby Aviation, Stack AV, and more. Greg combines deep controls and optimization expertise (Stanford MS, KU Leuven PhD work) with pragmatic software engineering, often serving as the primary integrator on high-risk prototypes. He’s a frequent top contributor on large engineering teams and an active open-source contributor to control/optimization projects like acados and CasADi, improving build, testing, and example tooling. Based in Redwood City, he excels at finding the highest-leverage problems to fix quickly, preferring to build and integrate systems himself rather than only manage from afar.
17 years of coding experience
14 years of employment as a software developer
PhD Dropout Electrical Engineering, PhD Dropout Electrical Engineering at KU LeuvenUniversity of California Santa CruzMS Aeronautics & Astronautics, MS Aeronautics & Astronautics at Stanford University
Stackoverflow
614reputation
4kreached
9answers
9questions
Github Skills (28)
ode10
continuous-integration10
autopilot10
ordinary-differential-equations10
cin10
bash10
c1110
c1710
parameter-estimation10
casadi10
sys10
build-automation10
embedded10
optimization10
testing9
Programming languages (15)
Github contributions (5)
casadi/casadi
May 2011 - Feb 2017
CasADi is a symbolic framework for numeric optimization implementing automatic differentiation in forward and reverse modes on sparse matrix-valued computational graphs. It supports self-contained C-code generation and interfaces state-of-the-art codes such as SUNDIALS, IPOPT etc. It can be used from C++, Python or Matlab/Octave.
Role in this project:
Back-end Developer
Back-end DeveloperContributions:457 commits, 10 PRs, 27 pushes in 5 years 9 months
Contributions summary:Greg contributed a new example to the project demonstrating parameter estimation. This involved creating and utilizing an explicit Runge-Kutta 4 (RK4) integrator, along with the integration from Sundials to solve ordinary differential equations. The example showcases the use of CasADi for symbolic computation and optimization tasks, specifically for parameter estimation within a spring-damper system identification problem. The work highlights the application of CasADi for creating different types of integrators.
code-generationpythonself-containedautomatic-differentiationmathematics
paparazzi/paparazzi
Jun 2010 - Jun 2012
Paparazzi is a free and open-source hardware and software project for unmanned (air) vehicles. This is the main software repository.
Role in this project:Embedded Systems Engineer / IoT Developer
Embedded Systems Engineer / IoT DeveloperContributions:11 commits in 2 years
Contributions summary:Greg primarily contributed to the radio control and telemetry aspects of the Paparazzi autopilot system. They fixed issues in the Spektrum serial decoder for Joby receivers, remapped Spektrum channels, and restored a kill switch telemetry message. Furthermore, the user added I2C error counter telemetry and adjusted startup delays for hardware initialization.
pprzpaparazziairdroneshardware
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