Kier is co-founder and CTO of Vsim. He was previously a Distinguished Engineer at NVIDIA, where he and his co-founder led development of the physics simulation stacks powering Omniverse, Isaac Sim, Isaac Gym and Isaac Lab. There they created Isaac Gym, the world's first end-to-end GPU-accelerated reinforcement learning framework, which set the template for how GPU-accelerated simulation-based RL is done in robotics. In 2022 they left to found Vsim, tackling the limitations plaguing simulation-based robotics AI: efficiency, scalability and the sim-to-real gap. While GPU ML performance rose sharply from 2019 to 2022, robotics RL saturated — existing techniques didn't scale to high-DOF or dexterous manipulation. Vsim compresses training from days to minutes while closing the sim-to-real gap.