DAIRLab, University of Pennsylvania, USA

Graduate Research Assistant • May 2025 - Present

C3 (Consensus Complementarity Control) is a contact-implicit MPC framework published by researchers at the DAIRLab, addressing the challenge of systems that make and break contact with their environment. As the lead developer and maintainer of the project's open-source reference implementation, I drove key engineering initiatives to professionalize the codebase, including:

• • A comprehensive refactor to improve modularity and long-term maintainability.
• • The implementation of CI/CD pipelines to streamline testing and deployment.
• • The creation of robust examples to demonstrate and validate the repository's capabilities.

Eureka Robotics, Singapore

Robotics Software Engineer • Aug 2022 - Aug 2024

Eureka Robotics is a team of highly talented individuals who have come together to create software and systems for high-accuracy, high-agility (HA-HA) robotic tasks.
Through my role, I gained extensive experience in robotic systems integration, by developing a comprehensive automation solution for industry applications. I led the development of a unified control framework built on C++ and Python, with responsibilities that extended beyond software to include maintaining and deploying hardware systems and ensuring the successful delivery of applications to clients.

My technical skills include:

• Software Development: Expertise in Python frameworks (PyQT, Dataclasses) and a commitment to robust unit testing.
• Hardware Integration: Experience in seamless integration of diverse robotic arms (Yamaha, ABB, KUKA, Mitsubishi),cameras, grippers, and sliders.
• DevOps: Proven ability to lead CI/CD pipeline development using Jenkins, Python, and Docker.
• Robotics Platforms: Proficient in industry-standard vendor software, including ABB RobotStudio and KUKA Sunrise Workbench.

Robert Bosch Security Solutions Pte Ltd, Singapore

Junior Embedded Engineer • July 2021 - Aug 2022

In this role, I was working as the sole embedded engineer on a team developing a full-fledged Access Control System. This product required a versatile skill set due to its diverse architecture, which included both legacy and modern components.
My responsibilities had been two-fold:

• Maintaining Legacy Systems and extended the functionality of older systems written in Assembly and Embedded C.
• Developing New Systems to provide market-driven solutions using modern frameworks like C++ and RTOS (Real-Time Operating Systems).

This dual role required me to handle a wide range of tasks, from interfacing a facial recognition service over a TCP/IP socket on Red Hat, Linux to replacing an outdated fingerprint recognition module via UART. This experience has prepared me to work effectively under pressure and deliver timely, reliable results, regardless of the challenge.

Robert Bosch (South East Asia) Pte Ltd, Singapore

Software Engineering Intern• January 2020 — August 2020

My role during this internship included closely working with the testing team. We followed the agile methodology of software development and I made use of python frameworks such as PyTest, Selenium & Appium in order to automate the functionalities of a web application. My biggest takeaway from the internship is the power of a united and talented team all working towards a common goal.

Push Anything: Single- and Multi-Object Pushing From First Sight with Contact-Implicit MPC

Hien B., Yufeiyang G., Haoran Y., Eric C., Siddhant M., Thomas Stephen Felix, Brian A., Bibit B., and Michael Posa