World Models for Robot Navigation on Unitree Go2
Master's capstone. I collected real-world data on a Unitree Go2 quadruped and trained an action-conditioned world model (RSSM) with a CEM planner for navigation without a map.
Hi, I'm
ShubharthakAI & ML Engineer, Full-Stack Developer, Robotics Researcher
I build web apps for clients and AI systems for research, including world models that help a Unitree Go2 robot navigate on its own.
- 5
- client sites live
- 10+
- open-source projects
- 6.5/7
- Master's GPA
Adelaide · UTC+9:30
About
Engineer working on AI, robotics and the web.
I'm Shubharthak Sangharsha, based in Adelaide. I did my Master's in Artificial Intelligence & Machine Learning at the University of Adelaide, where my capstone was on world models for navigation on a Unitree Go2 quadruped.
Before that I interned as a software engineer at Curve Tomorrow, working on Ruby on Rails health-tech apps. These days I build websites and AI assistants for small businesses as a freelancer, and write about what I learn on the blog.
Projects
Things I've built
Research, side projects and tools. Most of them are open source on GitHub.
GPT-2 (124M) from Scratch
A PyTorch rebuild of GPT-2 following Andrej Karpathy's Zero to Hero series: tokenizer, autograd engine, training loop, and SFT/RLHF/DPO experiments. There is a live demo.
Apsara AI Desktop Assistant
Desktop assistant built with Electron, React and Python. It takes voice commands, can see the screen, and runs tasks on the computer through LangChain tools.
AI Website Generator
Describe a website and an LLM writes it. You can keep editing it with prompts, preview it live in a sandbox, and export the code.
Face Recognition Attendance System
Marks attendance from a camera feed by matching faces against stored embeddings using dlib and OpenCV, then logs each record.
Add2Calendar
Turns a plain-English event description into an .ics file and one-click Google Calendar or Outlook links.
Gesture Volume Controller
Controls system volume with hand gestures, using MediaPipe hand landmarks and OpenCV.
NodeMCU Smart Car
A WiFi-controlled car built on an ESP8266, written in C++ and driven from the Blynk app.
Freelance
Client work
Websites I've designed and built for small businesses. All of them are live.
Aura Boxed Gifts
Online gift store with checkout and a built-in AI assistant that helps shoppers find products and add them to the cart.
“Shubharthak built Aura Boxed Gifts with a polished shopping experience and an AI assistant that actually helps customers explore products and checkout. The site feels premium, fast, and easy for our team to grow with.”
auraboxedgifts.inVisit site
Wyndham Financial Group
Website for a Melbourne mortgage broker with loan calculators, an AI voice assistant and enquiry forms.
“From loan calculators to the Wyndham AI voice assistant, Shubharthak built a mortgage broker platform that feels modern and practical. The site is polished, SEO-aware, and helps us engage clients more effectively.”
wyndhamfinancialgroup.com.auVisit site
W13 Projects
Portfolio site for a construction and renovation company, with project galleries and an enquiry form.
“Our new W13 Projects website finally matches the quality of our builds. Clean layout, strong project showcase, and a professional presence that makes it easier for homeowners to trust us and get in touch.”
w13projects.comVisit site
Auz Finance
Finance broker website with service pages and a loan enquiry flow.
“Shubharthak delivered a clean, trustworthy finance broker site that makes it simple for clients to understand our services and enquire. The design feels modern, professional, and built for conversions.”
auzfinance.comVisit site
BAAZ Electrical Group
Website for an electrical contractor covering residential and commercial services, with quick contact options.
“Our electrical services site looks sharp and is easy for customers to navigate. Shubharthak handled the design, SEO foundations, and contact flow so people can reach us quickly when they need work done.”
baazelectrical.github.ioVisit site
Video
How the robot project works
I post walkthroughs of my projects on YouTube. This one covers the world model research from start to finish.
Learning World Models for Robot Navigation: Sim-to-Real on Unitree Go2
A walkthrough of my capstone: training an RSSM world model and a CEM planner, then testing them on a real Unitree Go2 quadruped.
View project detailsExperience
Where I've worked
Freelance Full-Stack & AI Developer
Self Employed (devshubh.me)
I build websites for small businesses in e-commerce, finance and trades, and add AI features where they help, such as a shopping assistant for Aura Boxed Gifts and a voice assistant for Wyndham Financial.
Capstone Researcher, Robotics & World Models
University of Adelaide
Trained action-conditioned world models for navigation and tested them on a Unitree Go2 quadruped, supervised by Prof. Peng Shi and Dr. Bing Yan.
Software Engineer Intern
Curve Tomorrow
Built backend features in Ruby on Rails for health-tech and clinical research apps, including a CMS and REST APIs.
Education
Academic background
Master of Artificial Intelligence & Machine Learning
University of Adelaide
2024 – 2026
Adelaide, South Australia
Coursework in deep learning, reinforcement learning, computer vision and NLP. My capstone studied action-conditioned world models (RSSM with a CEM planner) for navigation on a Unitree Go2 quadruped.
GPA: 6.5 / 7.0
B.E. in Computer Science & Engineering (AI & ML)
Chandigarh University
2020 – 2024
Punjab, India
Core computer science (data structures, algorithms, operating systems, databases) plus machine learning electives.
CGPA: 8.39 / 10.00
Certifications
Courses & certificates
Online courses I've completed in machine learning and data science.
DeepLearning.AI & Stanford University (Coursera)2023
Supervised Machine Learning: Regression and Classification
Linear Regression, Logistic Regression, Gradient Descent
DeepLearning.AI & Stanford University (Coursera)2023
Advanced Learning Algorithms
Neural Networks, Decision Trees, Random Forests, XGBoost
IBM (Coursera)2023
Tools for Data Science
Jupyter, RStudio, GitHub, Watson Studio
IBM (Coursera)2023
Databases and SQL for Data Science with Python
SQL Queries, Relational Databases, Python DB-API
Skills
Technologies I work with
The languages, frameworks and tools I use in client work and research.
Full Stack
Databases
AI & ML
Cloud
DevOps & Tools
Contact
Get in touch
If you need a website, an AI feature, or help on a research or software project, send me a short message about what you're working on.