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Amid South Korea’s growing diversity and widening socioeconomic gaps, equitable access to STEM education is increasingly important. This study examined a high school student–led robotics program designed to enhance elementary students’ STEM engagement and learning in underrepresented communities. Grounded in constructionism and sociocultural learning theory, the program emphasized hands-on creation and mentorship as key mechanisms for learning. Thirty students from two public elementary schools in the Seoul metropolitan area participated in the program, completed pre- and post-surveys, and eleven were interviewed. Results showed significant gains in coding concept understanding and interest, along with upward trends in STEM attitudes and career aspirations. Interviews confirmed that mentorship and collaborative robot building fostered curiosity, confidence, and future STEM aspirations among diverse learners.