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Robert Zhu
Mid-level Robotics & Systems Engineer specializing in GPU virtualization and autonomous manipulation
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About
Robotics software engineer focused on vision-guided manipulation with a Franka Emika Panda on ROS 2, using an RGB-D camera and a trained YOLO-OBB detector to estimate 3D object poses for pick-and-place. Strong in perception-to-planning integration (TF2 alignment, message synchronization, MoveIt 2) and in debugging sim-to-real issues, including symmetry-aware orientation handling and grasp repeatability tuning.
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Key Strengths
- End-to-end perception + ROS 2 system integration for vision-guided manipulation
- TF2 frame debugging and sensor synchronization to resolve cm-level sim-to-real grasp errors
- Custom post-processing to handle symmetry/angle ambiguity in YOLO-OBB detections
- MoveIt 2 integration with custom grasp pose generation and filtering
- Improved grasp repeatability via gripper control timing and force-threshold checks
- Designing robust ROS 2 interfaces and QoS (reliable/transient local) for distributed configuration
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