We introduce OLiVia-Nav, an online lifelong vision language architecture for mobile robot social navigation. By leveraging large vision-language models (VLMs) and a novel distillation process called SC-CLIP, OLiVia-Nav efficiently encodes social and environmental contexts, adapting to dynamic human environments.
4CNet: A Diffusion Approach to Map Prediction for Decentralized Multi-Robot Exploration Aaron Hao Tan,
Siddarth Narasimhan,
Goldie Nejat IEEE Transactions on Robotics 2024, (Under Review) Paper
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Video
We present a novel robot exploration map prediction method called Confidence-Aware Contrastive Conditional Consistency Model (4CNet), to predict (foresee) unknown spatial configurations in unknown unstructured multi- robot environments with irregularly shaped obstacles.
Research Collaborations
MapEx: Indoor Structure Exploration with Probabilistic Information Gain from Global Map Predictions Siddarth Narasimhan (Acknowledged) ICRA 2025 Paper
A new exploration framework that uses map prediction to form probabilistic sensor model for information gain estimation.
Work Experience
Syncere
Lead Hardware and Software Engineer
Sept 2024 - Feb 2025
Building a startup with my colleagues in an effort to bring robots into the home. I am currently involved in building the hardware and software design of our robot. See our weekly progress here!
Advanced Micro Devices (AMD)
Power Design Engineer / Firmware Engineer - Data Center
May 2021 - Apr 2022
Documented performance of ASICs using metrics such as power efficiency, over current protection, dynamic response and power up. Inspected schematics and layouts to rework damaged boards and recommend improvements. Designed a robust Remote Management platform using a Raspberry Pi to automate the generation and sending of I2C/SMBUS/ MCTP/PLDM packets, and decode and debug live traffic through a custom-built GUI. Received Spotlight Award for novel contributions and excellent performance as a co-op student.
Ontario Ministry of Transportation
Data Science Intern
Jun 2020 - Aug 2020
Developed an intelligent provincial transportation system for highway analytics by leveraging GPS data and machine learning. Used by the Ministry of Transportation to obtain live traffic volume estimates on GTA highways. Designed a novel timestamp detection and recognition algorithm to locate and convert timestamps found in highway video feed to text.
Ontario Ministry of Government and Consumer Services
Data Analyst
Jun 2018 - Aug 2018 / May 2019 - Aug 2019
Built macro-powered databases to analyze thousands of spend transactions by Ontario ministries and standardize annual reporting. Engineered the databases using advanced techniques and visualization tools, such as Microsoft Excel, Access and Power BI.
I designed a robust SCARA manipulator mounted on a Clearpath Jackal for precise pick-and-place applications, powered by vision-language models and computer vision. It was programmed to play chess!
An object-oriented C++ implementation of popular variants of the rapidly exploring random trees algorithm, including RRT, RRT*, Anytime RRT and Informed RRT*.
The goal of RobotVision is to simulate control, path-planning, localization and mapping of a non-holonomic robot in a 2D world, while also providing a comprehensive mathematical formulation of each method. Implementation includes PID Control, lead-lag control, Dubin's path calculator, Extended Kalman Filter, and SLAM.
For our capstone project, we built a drone that is capable of stable hover, waypoint navigation and obstacle avoidance. Our team won the award for smoothest flight!
2025 W: MIE443: Mechatronics Systems: Design & Integration, Lab TA, University of Toronto 2024 W: MIE443: Mechatronics Systems: Design & Integration, Lab TA, University of Toronto
Extracurricular Achievements
2023 S: Excelsior June Open U2000, 2nd Place (Standings) 2022 F: Hart House Holidays U1900 Chess Tournament, 1st Place (Picture/Standings) 2019 S: Canadian Junior Chess Championship U1300, 1st Place (Picture/Standings) 2018 W: Ontario High School Chess Championship, Team: 2nd Place, Individual: 4th Place (Picture/Standings) 2018 W: Peel Chess League - Team: 2nd Place (Picture) 2017 F: UWaterloo - Canadian Senior Math Contest, 1st Place at High School (Medal) 2017 W: ROPSSAA Table Tennis, Men's Singles, 4th Place (Medal) 2017 W: Region of Peel Chess Tournament - Seniors, 3rd Place (Picture) 2016 W: Region of Peel Chess Tournament - Juniors, 1st Place