01 — Work13 projects · research, builds and productsRev. Oct 2026

Projects in motion.

Research from my PhD and visiting positions, a product people use, and the systems I build on the side. Filter by type or by track.

Type
Track13 projects
Research01 · ML · Robotics

In-hand tactile perception

A MuJoCo twin of the LEAP hand with 368-taxel XELA skins. Self-supervised MAE and JEPA models infer in-hand object shape and quantity at over 95% accuracy.

UCL CRISP Lab · 2026Code ↗
Research02 · Robotics · ML

Human-to-robot hand retargeting

A pipeline that turns egocentric human hand poses into LEAP-hand actions for in-hand multi-object manipulation.

UCL CRISP Lab · 2026Code ↗
Research03 · ML · Robotics

Retrieve + Refine VLA

Verified VLA actions for about the cost of one call: 1.1× a plain call versus 20× for CoVer, matching best-of-5 verification with 5.5× fewer policy evaluations.

π0.5 · GR00T · LIBERO tests in progressCode ↗
Research04 · Robotics · ML

Thermodynamic solvers for robot state estimation

Can analog thermodynamic hardware replace digital solvers inside a robot’s control loop? In closed-loop MuJoCo pick-and-place, warm-started iterative refinement cut device time about 330× while matching an exact solver.

17 problems · Kalman filtering, IK, MPC, PDEsCode ↗
Build05 · LLMs · ML

RL fine-tuning for code generation

GRPO fine-tuning of Qwen2.5-Coder with unit-test rewards and a sandboxed executor. Lifted 1.5B pass@1 by +3.2 on MBPP and +5.5 on HumanEval+ (3 seeds), with no reward hacking across 21 audited runs.

TRL · LoRA · vLLMCode ↗
Build06 · ML · Tools

JEPA from first principles

Two PyTorch-trained ViTs ported to dependency-free TypeScript with hand-derived backward passes, verified against PyTorch on every tensor.

TypeScript · GitHub ActionsDemo ↗
Build07 · ML

Transformer from scratch

A transformer built from the ground up in PyTorch, from tokenisation through multi-head attention, to understand exactly how current LLMs work.

PyTorchCode ↗
Product08 · LLMs · Tools

Time Weaver

A live time-tracking app anyone can use: categories, daily tasks and habits, with a built-in AI assistant and an MCP connector for Claude and other assistants.

Live productTry it ↗
Build09 · LLMs · Tools

Sales-intelligence agent

A multi-tool agent on Snowflake Cortex that answers sales questions from structured metrics and call transcripts, iterated with observability traces and exposed to Cursor over MCP.

Cortex Analyst · Cortex Search · MCPDetails →
Build10 · LLMs

RAG over research papers

Dense, BM25 and hybrid retrieval benchmarked on a hand-labelled question set. Hybrid lifted chunk-level Hit@5 from 0.66 to 0.78.

LangChain · FAISS · ChromaCode ↗