Ann Arbor, Michigan, United States
• Designed and developed IsaacFlow, a modular Python-based framework that automates robotics simulation setup in NVIDIA Isaac Sim using user-defined TOML schemas.
• Integrated Isaac ROS Nvblox for Euclidean Signed Distance Field (ESDF)-based 3D mapping to support scalable and efficient multi-robot exploration.
• Extended Nvblox (SDF-based voxel planning library) in C++14 to compensate for odometry drift, enhancing map consistency during long-horizon missions.
• Improved visual odometry and mapping pipelines with safety guarantees, supporting reliable trajectory generation; results accepted at Robotics: Science and Systems (RSS) 2025.
