Experience

• 

  Indian institute of technology, kharagpur

  Dec 2016 - Jun 2020

  -Worked extensively in the Centre for Robotics, IIT Kharagpur under the guidance of Professor D.K Pratihar. -Worked on the development of a Hybrid Mobile Manipulator capable of uninterruped manipulation. -Worked on the mechanical design and modelling of the proposed Hybrid Mobile Manipulator in Solidworks.-Worked in the simulation of the proposed model in ADAMS Tracked Vehicle Toolkit and obtained the motor requirements for carrying out desired movement and manipulation tasks. -Simultaneously worked on the design of a Six Legged Hexapod Robot for Research and Education purposes. -Developed the 3D model of the robot in Solidworks and obtaining the URDF model of the robot for implementation in ROS-Gazebo framework. Show less

  • Student Researcher

    Aug 2019 - Jun 2020

  • Teaching Assistant

    Sept 2019 - May 2020

  • Student Researcher

    Dec 2016 - Jul 2019
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  Institute for systems and robotics (isr-lisboa)

  May 2019 - Aug 2019

  Summer research intern

  -Worked as a research intern under the guidance of Professor Rodrigo Ventura in the field of Robotics and Controls.-Developed a Model Predictive Controller(MPC) in ACADO-C++ interface. -Implemented the MPC controller on NASA Astrobee robot using ROS-Gazebo framework. -Obtained comparison in performance of the MPC controller implemented and the default PID controller.

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  Uc san diego

  Apr 2021 - Apr 2023

  -Proposed an image based reinforcement learning method to achieve manipulation tasks. - Constructed simulations for manipulation tasks like reach, push, peg in a hole, open and close drawer, pegging a nail with a hammer using MUJOCO simulator and connect to Reinforcement Learning interface. - Showed that multiple camera paradigm is able to solve the tasks better and faster than single camera paradigm. - Implemented the learned policies in a real UFACTORY XARM7 manipulator and compared the success rate of using multiple cameras and single camera for each of the above mentioned tasks Show less

  • Teaching Assistant

    Sept 2021 - Apr 2023

  • Student

    Mar 2021 - Mar 2023

  • Image Based Reinforcement Learning to achieve Robotic Manipulation

    Apr 2021 - Mar 2022
• 

  Existential robotics lab, ucsd

  Jun 2022 - Sept 2023

  Associate research fellow

  -Proposed and implemented a Hamiltonian based Neural ODE architecture to learn the dynamics model of Jackal ground vehicle using point cloud observations.-Modelled Jackal as a differential drive robot in SAPIEN(https://sapien.ucsd.edu/) simulator and created a sample environment to collect point cloud observations from the simulator.-Trained a Hamiltonian based neural ode architecture to model the dynamics of the simulated jackal and developed an energy based controller with desired Hamiltonian function shaping to achieve pose stabilization as well as tracking of the robot. -Demonstrated the advantages of the learned model controller over a nominal controller for pose stabilization as well as tracking a circular and lemniscate trajectory.-Arxiv : https://arxiv.org/pdf/2309.09163.pdf Show less

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  Brain corp

  May 2023 - now

  Member of Perception Team in the Autonomy R&D Department at Brain Corp R&D Robotics Software Engineer (VSLAM, Camera Calibration)

  • Autonomy Engineer I

    Nov 2023 - now

  • Research Software Engineer Intern

    May 2023 - Nov 2023