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Seongjae Ahn
Intern/Junior Robotics & Controls Engineer specializing in simulation, teleoperation, and diffusion policies
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Robotics software engineer focused on simulation-to-teleoperation pipelines in NVIDIA Isaac Lab/Isaac Sim, including custom Dynamixel motor control integrated with USD/physics for dataset collection. Has hands-on ROS2 Humble + MoveIt2 integration for UR + Robotiq in Omniverse and builds Docker/CI workflows for GPU-enabled robotics stacks; also brings MPC coursework and multi-robot ocean drone comms experience (XBee/I2C).
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Key Strengths
- Deep Isaac Sim/Omniverse integration and troubleshooting across rapidly changing/deprecated versions
- Built custom synchronization interface between motor control loop and Isaac Sim GUI/physics cycle for stable teleoperation
- ROS2 Humble + MoveIt2 integration with simulated UR manipulator and Robotiq gripper via articulation graph/joint-state interfacing
- Strong containerized robotics workflows (Docker dependency management, GPU passthrough, host networking for ROS2)
- Implemented MPC for truck-trailer system using Pyomo with explicit dynamics constraints and bounds
- Multi-robot communications experience using XBee plus multi-sensor I2C architecture with multiplexing
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1 publication
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