Mechanical engineering B.S. · about five years of Unity/C# development.
Hardware integration, navigation and robot tasks, verified with real runs and simulation.
🎓 Physical AI Semi-Humanoid Engineer Program, Dongguk AI Campus · 656 hours · Jul 6-Nov 4, 2026 · in progress
🚗 AMR: ESP32/C++, Cartographer and Nav2; 20 goals over ~77 m, same-goal resume after stops, depth-aligned 1 cm tabletop parking and nine two-wheel dock returns.
🥤 Dual-arm serving robot (team): URDF, collision scene, A* and Isaac Sim task stages; ROS 2 Action/IPC orders, nine-stage run and cancellation stop.
🏭 Factory Ops Twin: dispatch, traffic reservations and process handoffs for 16 AMRs; the CPU run completed 48 shipments, 48 returns and 240 transports, then Isaac Sim replayed its poses.
🔍 USD Scene Review: read-only OpenUSD A/B review with a fixed camera, matching prims and semantic delta reports.
🤖 Unitree G1: simulated walking policy evaluation and Isaac Sim / ROS 2 Bridge execution.
🐾 Isaac Lab / Go2: four reward conditions × three seeds; command tracking and action variation supported the action-change penalty.
🦾 RB-Y1 tray lab: MuJoCo, head/wrist RGB-D and 20-joint IK; matched condition-and-seed runs improved 6/12 → 11/12 after a retreat-clearance revision, with motion-synced joint loads and section-based stress estimates.
🔧 Merged: MuJoCo Menagerie · rosbag2 · Gz Rendering · Navigation2
🏆 NVIDIA Korea Agentic AI Hackathon 2026: Top 5 of 10 final-round teams (Team Mollet). RL Triage Agent: Isaac Lab, Nemotron, NeMo Agent Toolkit and OpenShell; final: on-site mission.
🧪 BreakTok: IMU device for detecting scrolling rhythms (TOYTHON 2026, top-20 final)
🕹️ Earlier work: four mobile games, 80 WebGL science simulations, cross-team behavior/data contracts; Python + Unity CLI cut build time ~80%.
🌱 Learning and experiment notes: hello, robot
| Topic | Details |
|---|---|
| 📍 | Korea · Physical AI program through 2026.11; seeking robotics software integration, simulation and testing roles |
| 🔧 | Hands-on: ROS 2, C++, Python, Linux, Cartographer, Nav2, MCAP, Gazebo, Isaac Sim, Isaac Lab, MuJoCo, OpenUSD, analytical IK, LeRobot / ACT |
| 🧪 | Current work: AMR integration and operations; bimanual task execution; Isaac Sim assets and replay; Isaac Lab policy evaluation; MuJoCo manipulation and load analysis |
| 📚 | Start here: portfolio · AMR code & evaluation · dual-arm robot · Factory Ops Twin · USD review · Go2 results · RB-Y1 simulation · RL diagnostics |
