Adds dummy agents to the external task template generator
Bootstraps external projects with runnable agents for quick bring-up and debugging.
205+
Total Stars Earned
350+
Total Commits (2025)
85+
Total PRs
40+
Total Issues
20+
Contributed to (last year)
Open-source contributions
A selection of PRs, reviews, and issues I’ve opened (curated for impact and technical depth). Last updated: Sep 3, 2025.
Featured — NVIDIA Isaac Lab
Fixes ground height in factory environment
Corrects initial ground alignment to eliminate physics/visual inconsistencies.
Basic validation tests for scale-based randomization ranges
Adds sanity tests to catch invalid domain-randomization bounds early.
Fix: non-actuated joints resetting to zero on startup
Stabilizes scene reset behavior by preserving passive joint states at initialization.
Custom asset handling in external template generation
Scaffolds projects with user USD/config assets and lightweight startup for faster iteration.
Docs: Sim2Real resources (open-source pipelines)
Curates deployment resources and public repos to accelerate real-robot bring-up.
Proposal: fix mismatch between policy input shape & observation
Flags an interface mismatch affecting direct RL envs; proposes consistent obs shaping.
Sensors & Perception
RealSense-ROS: refresh topics & services in README
Ensures D4xx users see accurate interfaces when integrating cameras in ROS/ROS2.
Simulation & Tooling Ecosystem
Menagerie: changelog, PR template, contributors
Improves repo governance and contributor experience for the community’s robot model zoo.
pyrobosim: auto-detect ROS workspace
Setup script recognizes catkin/colcon workspaces automatically; smoother installs.
pyrobosim docs: one-click copy on commands
Quality-of-life improvement across the docs with copy buttons on CLI blocks.
Newton Physics docs: tabs & copy buttons
Modernizes developer docs with tabsets (OS/flows) and copy-to-clipboard controls.
Awesome Robot Descriptions: Kinova Gen3/Lite links
Adds official sources so users can find accurate models quickly.
Awesome Robot Descriptions: Disney BD-X entry
Introduces BD-X biped to the index for easier discovery/benchmarking.
Importers & Extensions
MJCF Importer: “Create for Isaac Lab” option
Adds an import toggle to flatten link hierarchy and remove worldBody/floor for Lab training scenes.
MJCF Importer: README fixes
Corrects startup script name and doc links for the latest release.
ros2_so_arm100: simplify installation & usage
Streamlines getting started with the SO-ARM100 ROS2 stack.
Repo stewardship & maintainership
SO-ARM101: structure, templates, and CI quality
Led repo clean-up and contributor workflow: README/LICENSE, issue/PR templates, auto-assign reviewers, review workflow, citation file, and asset hygiene.
#6 · #7 · #8 · #25 · #26 · #27 · #28 · #29 · #30 · #33 · #34
Naova docs site: versioned docs & GH Pages automation
Migrated Sphinx → GitHub Pages, added versioning, CI workflows, and content structure for students/contributors.
Notable issues opened
Isaac Sim 5.0.0: file browser doesn’t open folders on double-click
Reproducible UI regression identified across machines; aids triage for release-specific bug.
“Isaac Sim WebRTC Streaming Client” not visible in Releases
Reported docs vs. releases mismatch; maintainers flagged as pending repo update.