Prajwal Avhad

Currently an electrical engineer in the making, exploring pretty much everything.

I approach problems from the bottom up; every robotic system whether perception, manipulation, or locomotion can ultimately be understood through its mathematical representation, and this structure gives the ultimate intuition.

Previously, I was a Summer Research Intern at the IIT Kanpur Helicopter Lab and a Flight Controls Intern at Aspera Industries.

// science thrives on reproducibility and iteration

Profile
> exploring: humanoids, traj opt, compilers, optimisation, rl, julia > love to: distrohop > using: debian, nvim > tinkering with: electronics, circuits, codebases and robots
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Projects

FreeZe-pipeline - Zero-Shot 6D Object Pose Estimation

November 2025
Foundation Models, 3D Vision
  • Reproduced a training-free zero-shot 6D pose estimation pipeline by integrating GeDi, DINOv2, and SAM2 on an RTX 4090.
  • Implemented multi-view feature aggregation by back-projecting dense DINOv2 features from 6 viewpoints onto 3D point clouds.
  • Reference paper - FreeZe: Training-free zero-shot 6D pose estimation

Ellipsotope Implementation

June 2025
Julia, Computational Geometry

BeagleMind: Chat with BeagleBoard Docs using RAG

Feb 2025
LLMs, RAG
  • Built a RAG system for interactive chat with BeagleBoard docs using Qwen2.5-Instruct.
  • Optimized accuracy and efficiency by benchmarking against DeepSeek-R1 models.

2-Wheeled Balancer using LQR Control

June 2024 – Oct 2024
Controls, Embedded Systems
  • Designed an LQR controller for a two-wheeled balancer using state-space feedback.
  • Implemented real-time control on ESP-32 with FreeRTOS and MPU6050 feedback.
  • Simulated in MATLAB to optimize gain matrices for stabilization.