Selected work
Projects
A few of the things I'm building. Most live on GitHub.
Arwun
A small, portable, and highly mobile tracked robot, designed from scratch. Diff drive on two long side treads, plus two flipper arms that extend the chassis to climb and descend stairs, and let the robot stand upright and balance. A camera and an IMU make up the sensor suite, driving a ROS2 navigation and perception stack on a Jetson Orin Nano, with offline data recording for development. Actuation is gearmotors with integrated encoders and standard hobby servos; the dynamics and control work is prototyped in Drake. The whole build is documented in the build log.
FiftyOne plugins
Tooling for the physical AI data platform I work on: an object-tracking plugin with quality-control facets and a roadmap of tracking-specific operators, plus integrations for cloud-hosted datasets.
FiftyOne Audio Toolkit
A plugin that makes audio a first-class citizen in FiftyOne. A custom renderer draws log-power spectrograms so clips are visible in the sample grid, with a player and playhead in the modal. An embeddings search panel queries a collection by example clip or natural-language prompt, with a distance histogram, a threshold slider, and positive/negative mining into saved views. Operators compute the embeddings, backed by LAION CLAP, Microsoft MS-CLAP, or your own HTTP endpoint.
Built for my talk at the Voxel51 Audio and AI Meetup, "Curating, Searching, and Evaluating Audio Datasets in FiftyOne" — similarity search on ESC-50, captioning on Clotho, and the DCASE 2026 audio moment retrieval challenge.
Research
PhD in robotics, focused on multimodal perception. Published work in multi-object tracking and human–robot interaction.