The Journey So Far

1. Helped in making a quadrotor with in-house custom canegrass material.

2. Played a lot with SOTA SLAM methods (ORB-SLAM and Roverslam), with some poptimizations and custom additions to check.

Read my intern report - REPORT

Played around with SO100 kinematics and tried and tested sim-to-real.

Went deep into set computation and reachability using Julia. Discovered mathematical structures like sparse polynomial zonotopes and zonotopes, reading papers and implementing core functions. Implemented a new set method called Ellipsotope. GitHub Repo

• Studied and experimented with reachability analysis and set representation.
• Implemented order reduction and set enclosures based on research papers.
• Mathematical rigor meets control theory.
• Contributions merged in LazySets.jl— GitHub

Exploring control with MuJoCo and Brax by training PPO in multi-environment setups. Currently studying quadruped dynamics, focusing on stabilizing the robot in-place.

• Training PPO using Brax.
• Experimenting with controlling and balancing a quadruped model (unitree go2).

Tried building a bio-inspired turtle.

Raised $$$$ for an animal shelter with friends in a single night 'cos we were bored.

Participated in the e-Yantra Robotics Competition (eYRC), working on autonomous drone navigation and vision tasks.

• Implemented drone control and A* path planning in ROS2.
• Used OpenCV for Aruco Marker-based object detection.
• Reached top 30 out of 600+ teams; advanced to Stage 2.

This project was my first exposure to actually working with LLMs. Implemented Retrieval-Augmented Generation (RAG) with Qwen2.5-Instruct to chat with BeagleBoard documentation.

• Built a RAG tailored to BeagleBoard documentation.
• BeagleMind

Worked on a 3-DOF robotic arm project with ROS2 and Gazebo. Interfaced with microcontrollers via micro-ROS.

• Forward and inverse kinematics implemented.
• Simulation with ROS2 Humble and Gazebo.
• Communication using micro-ROS.

This was the start of my journey in controls.

• Designed and implemented an LQR controller in ESP-IDF.
• Stepper motor control with FreeRTOS on ESP32 and MPU6050 feedback.
• Simulated and tuned system parameters in MATLAB.

Read the blog post | View Project Page

• Fixed and revived an old 3D printer — Read the blog
• Taught Control (LQR, MPC), OpenCV, and Mechanical Design to juniors.
• Conducted workshops and study sessions on Control and Robotics.

Currently working at a very ambitious start-up.

Awe for how mathematical models can describe and influence physical systems.
Projects in mind — from theory to hardware.

• Hoping to bridge Julia-based computation with real-world implementation.
• MPPI.
• MORE RL MORE MODELS.