Jun 2020 – Mar 2021 · 9 mos · Toronto, Ontario, Canada

• Worked with Prof. Animesh Garg at PAIR Lab on articulated object interaction in unknown spaces using whole-body control and in-hand manipulation using the Trifinger robot (RRC Challenge conducted by MPI Tubingen, Germany).

Sep 2019 – Apr 2020 · 7 mos · Lugano, Switzerland

• Worked on designing a safe-learning algorithm to alternately train a Lyapunov neural network and a stabilizing constrained Model Predictive Controller (MPC).
• Developed a deep-learning-based solution for grasping objects using a 7-DOF robotic arm.

Nov 2018 – Aug 2019 · 9 mos · Zürich Area, Switzerland

• Worked at the Robotic Systems Lab (RSL) on reinforcement learning (RL) and its applicability to learning locomotion and manipulation policies for mobile manipulators.

May 2017 – Aug 2018 · 1 yr 3 mos · Freiburg Area, Germany

• Worked at the Autonomous Intelligent Systems (AIS) Lab on developing a vision-based system for UAVs to perform on-board landing site detection and navigation in catastrophe-struck environments.

Jul 2016 – Mar 2017 · 8 mos

• Under Abhyast fellowship by Boeing, worked on a multi-agent bomb disposal team. We built a two-wheeled differential drive robot with skid steering to perform SLAM and object detection to classify objects into potential explosives in real-time. We tested the platform in indoor settings in conjunction with a drone collecting environment information.

Nov 2014 – Mar 2018 · 3 yrs 4 mos

• Founded the Institute’s AUV team to facilitate research in marine robotics. We achieved second place in the National Student underwater Vehicle competition (NIOT-SAVe) 2017.