Spending my time getting machines to understand the world a little better —and occasionally solve useful problems along the way.
- 🤖 VLA From Scratch — Vision-Language-Action policy built and trained end-to-end from scratch on a single consumer GPU, with behavior cloning, DAgger-lite post-training, and a full evaluation harness.
- 🎨 Image Generation From Scratch — Text-to-image diffusion model built end-to-end from scratch with DDPM noise scheduling, text conditioning, and a lightweight HTTP inference API.
- 🧠 LLM From Scratch — Transformer-based language model built and trained end-to-end from scratch.
- 🚗 Autonomous Driving with RL — PPO/SAC/TD3 policy gradient agents for vehicle control in simulation.
- 👁️ Stereo Visual Odometry — Camera pose estimation from stereo imagery using classical CV techniques (research, Colorado School of Mines).
- 🏭 Warehouse Automation — Autonomous robot navigation and task planning for warehouse environments.
- 🌊 Optical Flow Speed Estimation — Vehicle speed estimation from dashcam footage using optical flow on comma.ai data.