Rushabh Dhoke

About

Robotics software engineer focused on sim-to-real deployment: built an Isaac Sim/Isaac Lab PPO training pipeline with domain randomization for vision-conditioned quadruped locomotion and integrated a RealSense D435i into a ROS2 stack on hardware. Also worked on an autonomous surface vessel, standardizing ROS2 interfaces across Jetson, microcontroller, GPS/IMU and motor controllers, using structured logging/replay to debug real-time oscillations and improve path tracking.

Experience

Education

Key Strengths

• End-to-end sim-to-real robotics integration (Isaac Sim training pipeline to real quadruped deployment)
• Strong ROS2 systems engineering (TF2 trees, launch files, QoS, device-wrapping nodes)
• Sensor/actuator integration and calibration across GPS/IMU/motor controllers with consistent timing
• Data-driven debugging using structured logging and replay to diagnose timing/noise issues
• Real-time control optimization (filtering, controller retuning, rate limits) validated via iterative field tests
• Latency-aware perception pipeline design (depth denoising + temporal stabilization for robust gesture commands)
• Built ROS2 vision pipeline to localize KUKA LBR iiwa end-effector using ArUco markers with FK/IK and frame transforms
• Strong calibration and time-sync rigor (hand-eye calibration validation with boot-time error thresholds; TF/timestamp drift mitigation)
• Robust perception under noise (detection gating and rejecting high-residual PnP results to reduce pose jitter)
• Real-time ML deployment on edge hardware (PPO policy Isaac Lab -> ONNX -> TensorRT FP16 on Jetson Orin)
• Demonstrated latency reduction from ~70–90ms to ~12–15ms via TensorRT optimizations, multithreading, and dedicated CUDA stream
• Hybrid estimation expertise (TorchScript LSTM fused with UKF) for underwater robot surfacing prediction
• Production-grade reliability practices (explicit QoS, lifecycle nodes, health checks, safe fallbacks, bag-driven regression tests in CI)
• Controls/motion safety awareness (joint-limit/singularity checks, accel/velocity/jerk limits, impedance mode during contact)