Aug 2021 – Feb 2022 · 6 mos · Munich, Bavaria, Germany

• Chair of Media Technology
• PourNet: Robust Robotic Pouring Through Curriculum and curiosity-based Reinforcement Learning
• Worked on a pure simulation-driven robotic pouring scenario based on Unity3D & Nvidia Flex and curiosity-driven Reinforcement Learning. The agent was trained with domain randomized liquid features using Curriculum Learning. Finally, the pouring policy trained in the simulation was transferred on a real robot, demonstrating a robust simulation-to-real transfer. Observed pouring deviation as low as 2.3 g for dish soap and about 5.5 g for water with many other liquids and pouring containers with different geometries in experiments. This thus demonstrated the robustness of the PourNet to pour different liquids (with different properties) precisely and also use different container geometries.

Apr 2020 – Oct 2021 · 1 yr 6 mos · Munich, Bavaria, Germany

• Chair of Media Technology
• Project: “Robot Grasp Planning with Compliant Gripper Jaws using Deep Learning”
• 1. Worked with 3D point clouds for stable pose generation and simulation-driven grasp computation.
• 2. Implemented domain randomization of camera poses for robust dataset generation within the simulation setup.
• 3. Transferred simulation-data trained grasping policy trained on 8.2 million datapoints on real robot demonstrating sim-to-real transfer of learned skill.
• 4. Observed a 92% success rate with grasping policy trained using nonplanar surface contact data which was a 10% improvement on traditional approaches on 22 novel objects.
• Tools: Python, TensorFlow, Scikit-Learn, NumPy, SQL, Pyrender, PyOpenGL, EGL, Docker, GQ-CNN, Ray-based parallelization of pipeline in Python.

Nov 2019 – Feb 2022 · 2 yrs 3 mos · Greater Munich Metropolitan Area

• Projects:
• 1. Worked on the development of data interfaces for a smart batteries project called SmartB4P. The sensory and weather data is collected using MODBUS protocols and pre-processed. Processed data then acts as an input to a reinforcement learning agent being developed by the Fraunhofer institute. The control actions from the RL agent are collected and sent over to batteries over the Modbus link.
• The communication between the data interface and RL agent is done by Redis PubSub.
• Language used: Python
• Libraries: Ray (for multi-processing), pyModbus.
• 2. Worked on a project called Smart4I, which was an Industrial 4.0 tech demonstrator. The demonstrator was a fully automated customer-oriented product assembly line. A customer could directly request products from the agent and get them assembled with minimum human intervention. I particularly worked on the development of a chatbot as one of the landing points for placing orders. The chatbot was based on the RASA framework in python and used a TensorFlow-based embedding intent classifier. It enabled the chatbot to identify multiple intents from single user input and thus, choose its response accordingly. Also hosted the chatbot on telegram for accessibility.
• Language used: Python
• Libraries/Frameworks: RASA

Nov 2015 – Oct 2018 · 2 yrs 11 mos · Gurgaon, India

• Primarily worked on development of a multi-media processing application.
• 1. Image Processing: Worked with JAVA, C++, OpenCV and in-house developed libraries to build a scalable application for image cropping, resizing, overlaying, stitching, OCR and Language Estimation, blur detection, object detection, prominent features detection in humans and image compression.
• 2. Video Processing: Worked with JAVA, C++, Bash, and FFMPEG to build an application for video transcoding (VP9 - WebM, h.265 - HEVC, h.264 - MP4), overlaying, stitching, audio normalisation, speech to text, branding and making videos streamable for end device caching and web streaming.
• 3. Audio Processing: Worked with JAVA, C++, Bash and FFMPEG to develop an application for audio processing operations like peak normalisation, EBU R128 Normalisation, trimming, channel mixing and transcoding.
• 4. Other Skills & Technologies: AWS services (EC2, SQS, Lambda, DynamoDB, SNS, S3 and CloudFront), Docker, Maven, SBT, GIT, NPM, Unix, Apache Kafka, Zookeeper (For non-persistent storage along with tools like Kafka)

Jun 2015 – Nov 2015 · 5 mos · Mumbai Metropolitan Region

• Developer

Jul 2014 – May 2015 · 10 mos · Hamirpur, India

• Organized and managed technical activities of the voluntary student society at the National Institute of Technology, Hamirpur.
• http://nith.ac.in/spec/about.html

May 2014 – Jul 2014 · 2 mos · Mumbai Metropolitan Region

• Primarily worked on analysis of instrumentation, interfaces and algorithms critical in working of a Nuclear Reactor.