Over two months, this developer enhanced simulation and planning systems within the tier4/scenario_simulator_v2 and tier4/autoware_launch repositories. They improved odometry data handling by introducing noise filtering and a configurable publish threshold in C++, reducing unnecessary processing when the ego vehicle is stationary. Their refactoring of DetectionSensor’s NoiseOutput increased code clarity and robustness, aligning with best practices in code formatting and software design. Additionally, they delivered a configuration update in YAML to adjust lane change avoidance defaults, simplifying planner behavior without code changes. Their work demonstrated depth in configuration management, sensor fusion, and maintainability, addressing both operational flexibility and code quality.