Samuel Lensgraf

I blend CS research expertise with zero-to-one software engineering experience to build the infrastructure that helps founders deploy and iterate on agentic AI systems at Infinity Constellation.

I work across the full stack of AI agents: Pydantic-AI, Opik, Django-Ninja, ReactJS, Terraform, Kubernetes, distillation & fine-tuning - anything that helps agents think clearly and act reliably.

Resume | GitHub

Samuel Lensgraf

Blog and Projects

Towards an AUV platform for low cost research on localization and autonomy

As a part of ongoing research efforts in autonomous underwater robotics, we at the Dartmouth Reality and Robotics Lab and the Autonomous Field Robotics Lab are developing a low cost AUV platform based on the electronics....

Engineering Droplet V1: An Autonomous Underwater Construction Robot

The broad goal of this project was to establish a solid first step towards more practical autonomous underwater construction systems. The general idea is that the robot will be fitted with a gripper designed to manipulate blocks (or bricks)....

Peer-reviewed Publications

  1. Samuel Lensgraf, Ankita Sarkar, Adithya Pediredla, Devin Balkcom, Alberto Quattrini Li "Scalable autonomous underwater assembly using reconfigurable visual fiducials" ICRA, 2024.
  2. Monika Roznere, Adithya Pediredla, Samuel Lensgraf "Underwater Dome-Port Camera Calibration: Modeling of Refraction and Offset through N-Sphere Camera Model" ICRA, 2024.
  3. Samuel Lensgraf, Devin Balkcom, Alberto Quattrini Li "Buoyancy enabled autonomous underwater construction with cement blocks" ISER, 2023.
  4. Ziang Ren, Samuel Lensgraf, Alberto Quattrini Li "Improving the perception of visual fiducial markers in the field using Adaptive Active Exposure Control" ISER, 2023.
  5. Charles J Carver, Qijia Shao, Samuel Lensgraf, Amy Sniffen, Maxine Perroni-Scharf, Hunter Gallant, Alberto Quattrini Li, Xia Zhou "Sunflower: locating underwater robots from the air" MobiSys, 2022.
  6. Samuel Lensgraf, Amy Sniffen, Zachary Zitzewitz, Evan Honnold, Jennifer Jain, Weifu Wang, Alberto Quattrini Li, Devin Balkcom "Droplet: Towards Autonomous Underwater Assembly of Modular Structures" RSS, 2021.
  7. Amy Sniffen, Zezhou Sun, Samuel E Lensgraf, Emily Whiting, Alberto Quattrini Li, Devin Balkcom "Falling Into Place: Drop Assembly of Interlocking Puzzles" RSS, 2021.
  8. Samuel Lensgraf, Karim Itani, Yinan Zhang, Zezhou Sun, Yijia Wu, Alberto Quattrini Li, Bo Zhu, Emily Whiting, Weifu Wang, Devin Balkcom "PuzzleFlex: kinematic motion of chains with loose joints" ICRA, 2020.
  9. Mingi Jeong, Monika Roznere, Samuel Lensgraf, Amy Sniffen, Devin Balkcom, Alberto Quattrini Li "Catabot: Autonomous surface vehicle with an optimized design for environmental monitoring" Oceans, 2020.
  10. Chanyeol Yoo, Samuel Lensgraf, Robert Fitch, Lee M. Clemon, Ramgopal Mettu "Toward Optimal FDM Toolpath Planning with Monte Carlo Tree Search" ICRA, 2020.
  11. Samuel Lensgraf, Ramgopal R. Mettu "Incorporating Kinematic Properties into Fused Deposition Toolpath Optimization" ICRA, 2018.
  12. Samuel Lensgraf, Ramgopal R. Mettu "An improved toolpath generation algorithm for fused filament fabrication" ICRA, 2017.
  13. Samuel Lensgraf, Ramgopal R. Mettu "Beyond layers: A 3D-aware toolpath algorithm for fused filament fabrication" ICRA, 2016. *Best automation paper