Sergio Reyes Sanchez enhanced IMU data processing in the technolojin/autoware.universe repository by implementing EKF-based gyroscope Z-axis scale estimation, using NDT pose as ground truth to improve state estimation accuracy. He refactored the bias estimation logic to incorporate scale corrections and expanded configurability with new parameters and diagnostics, leveraging C++ and ROS 2. In tier4/aip_launcher, he introduced finer-grained configuration controls for gyro bias and scale estimation, enabling more robust sensor fusion and system integration. Additionally, he maintained compatibility in tier4/autoware_launch by updating APIs, ensuring continued functionality as dependencies evolved. The work demonstrated strong depth in embedded robotics.