February 2026 - Present

PPO-based dexterous manipulation with Unitree Dex3-1 hand (7 DOF), finger gaiting reward, and 9-phase curriculum learning in MuJoCo. 256 parallel envs, reward normalization, per-minibatch advantage normalization. v2 training in progress.

December 2025 - January 2026

ACT and SmolVLA models for robotic pick-and-place on SO-101 arm, achieving 80% success rate with temporal action chunking.

November - December 2025

UR5e-based assistive feeding system with hybrid motion planning and sensorless impedance control.

December 2025

Hybrid RL approach combining PPO, SMDP, and MPC for robotic arm trajectory planning with obstacle avoidance.

November 14, 2024

Harris corner detection, feature matching with Lowe's ratio test, homography estimation for panoramas.

October 31, 2024

Navigation stack with magnetometer calibration, complementary filter sensor fusion, and dead reckoning.

October 14, 2024

Allan Variance analysis of IMU sensors - accelerometer, gyroscope, and magnetometer characterization.

September - December 2024

Real-time environment mapping on Spot robot using ROS2 and LIO-SAM with multimodal SLAM.

September 26, 2024

ROS2-based GPS driver parsing GPGGA NMEA sentences with UTM conversion and statistical analysis.

April 2024

Benchmarking RRT, RRT*, BRRT, BRRT* algorithms with animated visualizations.

July - November 2022

Indian traffic simulation using CARLA with SLAM for level 2 autonomy.

February - March 2022

Automated system in SOLIDWORKS for hospital bedspread cleaning.

December 2021 - February 2022

Three-wheel electric vehicle in SOLIDWORKS for solar panel transport.

November 2021 - January 2022

National rank 1 drone for Drone Dance Competition by Aviation Federation of India.

January 2020 - March 2020

Implemented a vacuum-assisted wall climbing mechanism designed for cleaning skyscraper windows. The system uses pneumatic suction cups to adhere to vertical glass surfaces while providing mobility for cleaning operations.