During two months on the WATonomous/humanoid repository, Eric Zhou refactored the ROS 2 navigation architecture, introducing modular Map Server, Planner, and State Machine nodes in C++ to replace legacy components and improve maintainability. He developed a new costmap module that processes sensor data into occupancy grids, enabling more robust robot navigation. Eric streamlined development workflows by consolidating Docker-based environment setup and enhancing onboarding scripts with improved option handling and documentation. His work emphasized modular software architecture, leveraging CMake and shell scripting to support scalability and reliability, and laid a strong foundation for future autonomy features by reducing technical debt and clarifying system responsibilities.