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Imitation Learning for Bimanual Manipulation
Cloth folding, stacking and pick-and-place from demonstrations
- Entered the LeHome challenge at ICRA 2026 — bimanual cloth folding from demonstrations.
- Worked through ACT, diffusion policy, SmolVLA, π0 and X-VLA, and the ideas underneath: action chunking, flow matching, VLM action experts.
- Guided an intern project on bimanual stacking with LeRobot SO-101 arms across RGB and D405 setups.
VLA-Based Grasping on a UR5
Teleoperation, demonstration collection and policy training
- A vision-language-action grasping pipeline on a UR5.
- Mentored interns through teleoperation with an AgileX Pika Sense, demonstration collection and LeRobot dataset conversion.
3D LiDAR SLAM for Aerial Mapping
LiDAR-inertial odometry onto a drone, from sim to flight
- Benchmarked KISS-ICP, LIO-SAM and FAST-LIO in simulation, including FAST-LIO with a custom back-end.
- Built the power distribution for the drone, LiDAR and Jetson, then hand-flew the platform to map an area with LIO-SAM.
Visual SLAM from Scratch
A full front-end and back-end on Open3D and OpenCV
- ICP odometry and incremental map building with local loop closure, then pose-graph optimization with global loop closure.
- Relocalization through bag-of-words place recognition refined by ICP. Good maps end to end; scale drift left open.
NITK Autonomous Campus Shuttle
Level-5 autonomous shuttle on a Mahindra Reva chassis
- Autoware as the core autonomy stack over ROS 2, on an instrumented Reva chassis with LiDAR, cameras and radar.
- Localization, path planning and control for mixed pedestrian–vehicle campus traffic.
MuJoCo–ROS 2 Quadruped Navigation
Gait generation and waypoint navigation in simulation
- ROS 2 bridge from MuJoCo physics into RViz, with 2D and 3D IK solvers mapping foot positions to joint angles.
- Trotting gait with configurable stride, plus waypoint navigation over cubic-spline interpolated RViz markers.
UR5 Manipulation for Pick-and-Place
MoveIt motion planning from simulation to hardware
- UR5 configured in ROS Noetic with a Gazebo world for repeatable pick-and-place trials.
- Collision-aware planning through the MoveIt Python API, carried across to hardware.
MEMS Piezoelectric Flooring for Localization
A smart floor that localizes robots and harvests its own power
- Bimorph PZT cantilevers harvesting energy from wheel loading as robots cross the floor.
- Hybrid localization fusing RFID identity with PZT vibration signatures — infrastructure-side odometry with no onboard sensing.
ROS 2 Teleoperated Differential-Drive Robot
A from-scratch mobile base on a distributed ROS network
- Nodes spanning a host machine and an onboard Raspberry Pi over a shared ROS network.
- Low-latency UART between the Pi and the Arduino motor controller.
IEEE Skye Expedition — Drone Delivery System
A modular remote-release payload platform for UAVs
- CFRP payload-release structure using a two-bar mechanism and electromagnetic attachment, airframe-agnostic.
- Pi and Arduino control exposed over ROS 2, with ANSYS CFD to tune drag and stability.