Hi, I'm你好，我是 Ji Yuan 'Steven' Feng冯纪元

I am a我是一名 Robotics Engineer

I am a robotics systems engineer passionate about bringing autonomous and biomimetic robots to life.我是一名机器人系统工程师,致力于将智能机器人和仿生机器人带入现实。

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NVIDIA Robotics Simulation

Robotics Simulation Engineer · 2023 to Present

I build the robotics simulation foundations in NVIDIA Isaac Sim, from leading the robot importers and exporters to manipulation physics, physics-based sensors, and the sim-ready robot library, and teach these workflows at NVIDIA GTC, ACM SIGGRAPH, and ROSCon.

Featured NVIDIA Work

NVIDIA Isaac Sim

Core simulation work that turns real robots into accurate, sim-ready digital twins for testing, data collection, and training.

  • Lead the Isaac Sim importers and exporters that bring URDF and MJCF robots into OpenUSD as modular, sim-ready assets.
  • Manipulation and contact physics: tuning joint drives, grippers, and dexterous hands for high-fidelity grasping.
  • Physics-based sensors, including IMU, contact, and effort sensors.
  • The Isaac Sim asset library of 100+ humanoids, quadrupeds, arms, grippers, and mobile robots.
Isaac SimOpenUSDPhysXURDF / MJCF
Robot Importers & Sim-Ready Assets

Isaac Sim importers, exporters, and the sim-ready robot library

Lead the URDF and MJCF importers and USD exporters in Isaac Sim, setting the standard for how robots become modular, simulation-ready OpenUSD assets.

  • Curated 100+ sim-ready humanoids, quadrupeds, manipulators, grippers, and mobile robots used across Isaac Sim and Isaac Lab.
  • Taught the robot asset structure at ACM SIGGRAPH 2025 (Learn OpenUSD: Robotics Best Practices) and NVIDIA GTC 2025.
Isaac SimURDF / MJCFOpenUSDAsset Pipelines
View SIGGRAPH OpenUSD Lab
Humanoid & Legged Learning

Locomotion and whole-body learning in Isaac Lab

Built humanoid and legged robot environments and trained reinforcement-learning policies for walking, imitation, and dynamic recovery, plus a sim-to-sim pipeline for evaluating them across simulators.

  • GR1 imitation learning, H1 walking training, H1 dynamic flip experiments, and Agility humanoid locomotion.
  • Co-authored the Isaac Lab GPU-accelerated simulation framework white paper.
Isaac LabReinforcement LearningHumanoidsWhole-Body Control
Read Isaac Lab White Paper
Manipulation & Asset Tuning

Dexterous hands, articulated arms, and PhysX tuning

Configured and tuned articulated hands, grippers, and manipulation scenes where joint drives, contact physics, and USD structure determine task fidelity.

  • Dextrah manipulation, RL drawer opening, high-fidelity claw grasping, and industrial arm pick-and-place.
  • Led to ACM SIGGRAPH 2026 and NVIDIA GTC 2026 sessions on tuning robot assets.
OpenUSDPhysXDexterous ManipulationAsset Tuning
View SIGGRAPH 2026 Hand Course
GTC, SIGGRAPH, ROSCon, and Newton physics demosConferences & Developer Education

GTC, SIGGRAPH, ROSCon, and Newton physics demos

Authored hands-on labs, conference talks, and live booth demonstrations teaching robotics engineers how to build and validate simulation-ready robots.

  • Talks span GTC 2025/2026, SIGGRAPH 2025/2026, ROSCon 2026, and live Newton physics engine showcases.
  • Presented digital twin and ROS 2 software-in-the-loop workflows to 200+ attendees, covering robot import, OpenUSD composition, and sensor setup.
NVIDIA GTCACM SIGGRAPHROSConNewton
View GTC 2026 Session

Education & Research

University of Waterloo

Bachelor of Applied Science in Mechatronics Engineering with AI Option, with Distinction

Active & Interactive Robotics Lab

Researched human perception of robot behaviors under Dr. Yue Hu; published in IEEE Robotics and Automation Letters

Stanford University

Master of Science in Electrical Engineering (In Progress)

Publications & Talks论文与技术演讲

ACM

Simulating a Dextrous Hand For Robotics With OpenUSD使用 OpenUSD 进行机器人灵巧手仿真

ACM SIGGRAPH, 2026ACM SIGGRAPH，2026

View Publication查看链接
ROScon

From URDF to USD: A Complete Pipeline for High-Fidelity ROS 2 Simulation in NVIDIA Isaac Sim从 URDF 到 USD：NVIDIA Isaac Sim 高保真 ROS 2 仿真完整流程

ROSCon 2026

NVIDIA

Configure and Tune Robot Assets With OpenUSD and PhysX使用 OpenUSD 与 PhysX 配置和调优机器人资产

NVIDIA GTC 2026

View Publication查看链接
IEEE

Quantifying Human Mental State in Interactive pHRI: Maintaining Balancing量化交互式物理人机交互中的人类心理状态：保持平衡

IEEE Robotics and Automation Letters, 2025IEEE Robotics and Automation Letters，2025

View Publication查看链接
ACM

Learn OpenUSD: Robotics Best Practices学习 OpenUSD：机器人仿真最佳实践

ACM SIGGRAPH, 2025ACM SIGGRAPH，2025

View Publication查看链接
ACM

Digital Twin Robotics: Immersive Software-in-the-Loop Testing with OpenUSD, Isaac Sim, and ROS数字孪生机器人：基于 OpenUSD、Isaac Sim 与 ROS 的沉浸式软件在环测试

ACM SIGGRAPH, 2025ACM SIGGRAPH，2025

View Publication查看链接
NVIDIA

Isaac Lab: A GPU-Accelerated Simulation Framework for Multi-Modal Robot LearningIsaac Lab：面向多模态机器人学习的 GPU 加速仿真框架

NVIDIA White Paper, 2025NVIDIA 技术白皮书，2025

View Publication查看链接
NVIDIA

Software-in-the-Loop Testing for Robots With OpenUSD, Isaac Sim, and ROS I使用 OpenUSD、Isaac Sim 与 ROS 进行机器人软件在环测试

NVIDIA GTC 2025

View Publication查看链接

Hobbies, Projects & Internships

Multi-Robot SLAM

Autonomous Multi-Robot Warehouse SLAM

UWaterloo Mechatronics Capstone · ROS & Isaac Sim

Built a multi-robot exploration and SLAM system capable of mapping an 80,000 sq ft virtual warehouse through coordinated frontier-based autonomy.

GitHub
Fixed-Wing, Glider & Drone PilotAviation

Fixed-Wing, Glider & Drone Pilot

Transport Canada PPL (2017) & Glider License (2016) · CA + US Drone Certificates

Certified to fly single-engine aircraft, gliders, and unmanned aerial systems across North America—hands-on flight dynamics experience that informs my aerial robotics work.

Custom Remote-Controlled AircraftAerial Robotics

Custom Remote-Controlled Aircraft

Raspberry Pi & ESP8266 · Two-Person Hardware/Firmware Build

Designed and fabricated a fixed-wing airplane from scratch, covering both the mechanical airframe and onboard wireless flight-control architecture.

GitHub

Technical Skills技术栈

Systems & GPU系统与并行计算

C, C++, C#, CUDA

Simulation & Scientific仿真与科学计算

Python, MATLAB, R

Embedded Hardware嵌入式硬件

Arduino, Raspberry Pi, ESP8266

Perception & Learning感知与机器学习

OpenCV, TensorFlow, PyTorch

CAD & 3D Assets机械设计与三维资产

SolidWorks, AutoCAD, Blender

Robot Middleware机器人中间件

ROS, ROS 2, Gazebo

NVIDIA RoboticsNVIDIA 机器人平台

Isaac Sim, Isaac Lab, OpenUSD

Aviation Credentials飞行资质

Private Pilot, Glider Pilot, Drone Operator (CA + US)私人飞行执照、滑翔机执照、无人机执照（加拿大 + 美国）