All Projects
A complete archive of my research, hardware designs, and software frameworks.
Zero-Shot LLM-Driven Multi-Robot Coordination
A framework enabling users to orchestrate a fleet of sensor-less, differential-drive mobile robot...
Residual Reinforcement Learning for VQ-BET Fine-Tuning
Improving grasp accuracy of a pre-trained VQ-BET base policy by layering a residual RL component ...
PPO Reinforcement Learning for Quadruped Locomotion
Trained a robust locomotion policy for the Unitree Go2 quadruped robot within the Isaac Lab physi...
Action Chunking for Imitation Learning
Enhancing VQ-BET performance via action chunking, hyperparameter sweeps, and temporal moving aver...
AI-Enabled Mobile Robotics Platform (VLM Servo)
A mobile manipulator integrated with a multi-layered, AI-driven software stack using Gemini 2.5 P...
Generalizable Imitation Learning for Domestic Tasks
High-performance computing pipeline using LeRobot to train Action Chunking Transformers (ACT) for...
VQ-VAE Hyperparameter Optimization for Bimanual Policies
Troubleshooting and optimizing bimanual robotic policies on the YOR (Cone-E) hardware using AR Ki...
Low-Cost Software-Stabilized 3D LiDAR
A highly functional, cost-effective, and perturbation-resistant LiDAR system optimized for indoor...
MPC-Based Quadcopter Control using SQP
Designed a Sequential Quadratic Programming (SQP) solver from scratch to drive an MPC framework f...
Neural Network Solutions for Inverse Cauchy Problems
A multi-layer ANN designed to solve a 2D elliptic PDE for detecting material deformations and inh...
Automated Waste Detection and Sorting System
End-to-end automated pipeline for waste detection, classification, and physical sorting using a n...
Swerve Drive Simulator
4-wheel swerve holonomic drive framework with integrated kinematics, dynamics, and continuous pot...
AI-Driven Mechanical Design Framework
Text-to-design framework interpreting natural language to generate immediate, interactive 3D visu...
6-DOF Robotic Kinematics and Simulation
A comprehensive MATLAB simulation environment for a 6-Degree-of-Freedom robotic arm covering forw...
Autonomous Indoor Drone (Flipkart GRID 2.0)
VIO framework for GPS-denied indoor localization using stereo camera and IMU fusion.
Decentralized UAV Swarm (DRDO SASES)
Ad-hoc networked, decentralized swarm of 4 drones for autonomous vision-based search and rescue.
Vision-Based Gerontechnology
cv2-dnn based face-tracking Raspberry Pi module to detect falls and trigger fail-safes.
Heterogeneous Swarm Robotics (DRDO)
Multi-terrain coverage swarm capable of semi-autonomous SLAM-based surveys.
WiFi RSSI-Based Localization
ESP-based system triangulating a ground bot's position within a 10cm error margin.