Muskaan contributed to the MRoboSub/mrobosub repository by refining ROS 2 Quality of Service and timing mechanisms for MlExecutor and MlSrvNode, focusing on accurate message handling and controlled execution timing. She refactored queue sizing to leverage qos_profile and transitioned timing logic to the node clock, improving synchronization and reliability. Additionally, Muskaan addressed deployment stability for CUDA-enabled workloads by updating the Dockerfile to support PyTorch CUDA 12.1 and cleaning up unused launch files. Her work utilized Python, Dockerfile, and CI/CD practices, demonstrating a methodical approach to both feature enhancement and build system maintenance within a complex robotics software environment.