LeWAM - Latent Space World Action Model

Designed and implemented a latent space world action model for multi-task robotic manipulation using flow matching

Joint video prediction and action generation in V-JEPA2 latent space using single a DiT backbone, inspired by DreamZero and LeWorldModel

Integrated as a LeRobot policy plugin for standardized training and real-world deployment on SO-101 arm

All datasets and models publicly available on Hugging Face

Zima - Autonomous Rover and End to End control

Engineered tracked rover and 5DOF robotic arm from CAD design to ROS2 control implementation

Trained and evaluated a behaviour cloning visuomotor policy (Resnet + MLP architecture) for real world navigation tasks

Software Intern - Cellula Robotics

Developed ROS2 C++ and Python software for long-range AUV control and navigation systems

Migrated system-critical legacy ROS code to modern ROS2, developed CI/CD pipelines in GitLab

UBCO Marine Robotics - Software Lead

Led Marine Robotics software team competing at RoboSub 2024 and 2025. Ranked 11th internationally, 2nd in Canada

Designed modular autonomy and control systems using ROS2, Eigen, PCL, and PyTorch

Developed real-time semantic 3D mapping using YOLO object detection and stereo camera pointclouds

Implemented sensor fusion (DVL + IMU) for accurate navigation using PID and hierarchical state machines

Research Assistant - UBC

Prototyped visualization solutions in Unity (C#) for large-scale curved displays

Integrated real-time motion capture (Motiv) and multi-system communication via Firebase

Developed mesh projection algorithms to handle geometric distortions on curved surfaces