Projects
Technical projects, tutorials, and write-ups from outside my papers, with code and video where I have them.
Sim-to-Sim Transfer Framework
A simulation-to-simulation transfer pipeline for validating control policies across physics engines, comparing IsaacSim with MuJoCo.
PaliGemma from Scratch
A reimplementation of the PaliGemma vision-language model architecture in PyTorch, built end to end to work through multimodal integration and large-model design.
Self-Driving Cars Specialization
My review of the University of Toronto's four-course Self-Driving Cars Specialization on Coursera, recorded after completing it. The courses cover the autonomy stack end to end: state estimation and localization from GPS/INS, wheel odometry and LiDAR; visual perception with object detection, depth estimation and semantic segmentation; and hierarchical motion planning with vehicle control, ending in a capstone that drives a car through CARLA.