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- Control & Locomotion: Design and implement control algorithms for humanoid/legged platforms — dynamic stability, agile locomotion, gait generation, and whole-body control (force/torque, inverse dynamics).
- State Estimation & Sensor Fusion: Build real-time state estimation and sensor fusion pipelines (IMU, encoders, force/torque, vision/LiDAR as applicable) to support balance and autonomy.
- Motion & Autonomy Foundations: Develop motion planning and navigation building blocks and optimize decision-making pipelines for real-world operation.
- ROS 2: Build and maintain ROS 2 nodes, APIs, and distributed software architectures — including hardware abstraction layers and clean interfaces.
- Hardware Integration: Collaborate with mechanical/electrical teams to integrate actuators, sensors, and power systems (Serial, I²C, SPI, UART, USB) and bring features onto real robots.
- Testing & Performance Tuning: Run system-level testing, debugging, and tuning on physical robots — focusing on robustness, safety, stability, and energy efficiency.
- Tooling & CI/CD: Develop tooling for data capture, visualization, simulation, and CI/CD (simulation + hardware-in-the-loop) to speed up iteration and increase reliability.
- Simulation & Sim-to-Real: Build simulation scenarios and synthetic datasets (Isaac Sim / MuJoCo / Gazebo) to improve sim-to-real transfer and coverage.
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