Robotics Engineer
Building systems that perceive, learn, and move.
M.S.E. Robotics · University of Pennsylvania
I'm an M.S.E. Robotics student at the University of Pennsylvania, working at the intersection of robot perception, control, and machine learning. I enjoy connecting ideas in code with systems that operate in the physical world.
At ModLab, I work on HAMR's perception and control, including visual localization and ball-caster motion analysis. With Xlabs, I'm investigating learning signals for image-editing policies. My broader interests include generative world models and how agents learn to predict and act.
Investigating learning signals for image-editing policies through conditional generative modeling. My current work combines representation-distribution matching with vision-language feedback to study semantic alignment, image quality, and diversity.
Developing perception and control tools for HAMR, from vision-based analysis of a custom ball caster to visual SLAM and localization with a RealSense D455 depth camera. The work connects caster motion estimation, sensor integration, and PID control to investigate mobile robot behavior.
Researching world models for agent-centric prediction and decision-making, including current-state and latent dynamics formulations. Developing flow- and diffusion-based models for controllable sequence generation, with preliminary exploration of energy-based models.
Implemented autonomous yard patrols using a quadruped robot, enabling waypoint navigation, dynamic obstacle avoidance, sensor-based image capture, and web-based monitoring and control. Created full-stack AI guest check-in system, supporting visitor/employee appointments and real-time status tracking.
Developed a Python web scraper using Scrapy to extract and process over 100 million data hashes, storing results in PostgreSQL. Authored a software requirements specification outlining system functionality, technical requirements, and project scope.
ModLab · Mobile robotics
Connecting caster mechanics, visual sensing, and feedback control in a holonomic mobile robot. Work spans dual-camera caster tracking, depth-camera localization, and ROS 2 / embedded PID control.
3D reconstruction · Robot perception
Exploring 3D Gaussian Splatting for indoor scene reconstruction from RGB-D lap recordings, calibrated camera data, and robot poses.
Robotics · Optimal control
Developed a planar boxing-arm simulator that uses Model Predictive Control with iLQR to generate fast, contact-rich attack, block, and parry motions between two opposing robotic arms. The system demonstrates real-time trajectory optimization and adaptive defensive behaviors.
