PhD student at UST-KRISO (Ship and Ocean Engineering), working on active perception for close-range underwater tasks — deciding where a robot should look next when the water, not the geometry, is the problem.
🔭 Currently
- RL-based next-best-view planning for underwater inspection, trained in IsaacLab with attenuation-aware rewards
- Sim-to-real transfer of learned controllers onto a BlueROV2 Heavy — and the diagnostics that make it work
🗂️ Repositories
underwater_NBV— perception planning, vehicle dynamics, and their integration (IsaacLab)brov_ros2— ROS 2 deployment stack for the BlueROV2 and the tank experiment recordsSCA-classification— end-to-end acoustic working-state classification (MS thesis; IROS 2025, IEEE JOE under review)
🧗 Off-screen I climb and hike, and I still mean to learn to surf and dive.