GrayMatter Robotics Experience

Professional Experience, GrayMatter Robotics, 2023

Role: Robotics Software Engineer
Location: Los Angeles, California
Duration: January 2023 - Present

Created custom denoising filters for 3D point cloud data allowing for smoother path and trajectory planning
Set up of inspection robot: involving creating a custom C++ ROS node that integrated inhouse software nodes of path & trajectory planners with software nodes of external partners @University of Washington, in a dual robot setup, handling image capture and classification
Developed and deployed a CNN-based detection system for sandpaper monitoring with 100k+ images, implementing transfer learning techniques to achieve robust performance across different deployment sites
Researched into advanced classification methods including Vision Transformers, VLMs and multi-input models for enhancing accuracy

Redesigned ROS architecture for automated sandpaper replacement system, enabling modular integration of multiple sandpaper types and detection models
Architected a comprehensive data recording system for multi-node ROS environments, enabling real-time monitoring via Formant Platform integration
Led refactoring initiatives for segmentation nodes to improve scalability and usability for application engineers
Contributed to US Patent No. 11,820,017-B1 for innovative methods in robotic tool tracking and replacement

Enhanced collision detection systems using NVIDIA PhysX and Isaac Sim, implementing geometric primitive setup and GJK query pipeline
Optimized performance through multi-threaded collision checking across planner nodes
Improved trajectory generation algorithms to reduce cycle time between multiple passes

Led development of special projects including an innovative robotic pumpkin carving, Christmas tree decorating.