Currently working as a Research Associate(Wissenschaftlicher Mitarbeiter) at Fraunhofer IPA, Stuttgart. I focus on applications of force-based robot programming for Disassembly and Assembly tasks for industrial use cases. Morever, my projects focus on multi-sensor understanding and C++ development for robot controllers.
- Application of Moveit in ROS2 to understand skills and its use for extracting object information for manipulation
- Using VIO and behaviour trees for robot perception, navigation, and action planning in mobile manipulators
- Implementing BundleSDF on industrial parts with irregular object geometry for optimal object pose extraction.
- Experimenting with vision pipelines for use in a Voxposer setup
- Replicating OwlVit algorithm for an industrial use case.
- Completed my Master's Thesis at Fraunhofer IPA, Stuttgart on Combining Vision, Force Control and Reinforcement Learning for the task of gear assembly
- Developed a multimodal system in the perception of a robot manipulator in an assembly line.
- Created a data-efficient system capable of training the Reinforcement Learning model quickly with quick deployability
I am interested in using learning-based systems with scene understanding for robots like mobile manipulators in inspection and disaster rescue. To this end, I have been developing my skills in manipulators, mobile robots, and robot perception through internships and personal projects.
Some of the topics I have worked on are:
- Multi-sensor fusion
- Visual Reinforcement Learning
- Robot perception for navigation and manipulation
- Optical Flow, Visual Odometry, Depth Estimation
- Synthetic Data Generation
- Object pose estimation
- Mechatronic systems
- Robot body and circuit design and prototyping
- I am a Master Student of Robotics Systems Engineering from RWTH Aachen University, Germany
- I completed my Bachelors Degree in Mechanical Engineering from Indian Institute of Technology, Kharagpur
- Languages: Python (Pytorch, Tensorflow, Stable Baselines, Gym, MuJoCo), C++, Embedded C
- Tools: NVIDIA Isaac, ROS, Docker, WANDB, MATLAB, LaTeX, Blender