Software Engineer, Routing Team

Masters Student under Professor Angela Schoellig.Thesis: Vehicle Motion Prediction using Pregenerated Motion Primitives

Subteam lead at aUToronto, UofT's autonomous vehicle club and winners of the SAE Autodrive Challenge.Led team of 6 in developing lattice-based motion planning & behaviour stack for global/local planning and obstacle avoidance on all competition traffic situations. Optimized lattice construction, pruning, and search algorithms for a <50ms runtime.Led team of 4 in developing a timing-critical vehicle communication & control interface through CAN connection.Developed and optimized a computer vision pipeline for 10Hz sign detection and classification using only CPU/FPGA compute.Managed ROS integration, deployment, and simulation/real-world testing of our self-driving software stack.

Research assistant under Prof. Florian Shkurti. Thesis project on sim-to-real transfer of a reinforcement learning agent for ball catching using a UR10 arm.Research project on VAE-based learning of robot navigation in partially observable environments.

Research Assistant under Prof. Wang He Sheng.Developed a novel pose regression algorithm based on simultaneously learning domain-invariant features across several domains using a GAN-based architecture.Able to achieve 76% accuracy on the 5m, 10 degree category of the CMU Seasons dataset leaderboard, park slice. Outperformed other state-of-the-art learning-based pose regression algorithms.

Software intern in the university team. Implemented and optimized a proprietary IDE for coding and source-level debugging on Intel embedded processors. Achieved over 53% speedup on common debugging routinesDeveloped software/hardware interface for utilizing ROS with Intel embedded processors & development boardsWrote and published tutorials for a UofT senior year course on OpenCL computer vision acceleration using Intel FPGAs

Research assistant under Professor Roman Genov.Developed an FPGA image sensor synchronization/control module for Time-of-Flight and Coded Exposure imaging