🚀🔬 Research Experience 📈🧪
🎓👨🔬Graduate Assitant
Jan’23 - May’24
AI4CE Lab, New York University
Supervisor: Dr. Chen Feng, NYU
- Developed a Variable-length VPR system handling multi-modal(images and sequences) inputs
- Established the optimal image encoding method among foundational models, ViTs, and CNNs for VPR
- Models Tested
- Foundational Models tested: DinoV2
- ViT Models: ViT-b & ViT-l
- CNN Models: NetVLAD, ResNet50
- Pooling Methods:
- NetVLAD
- MixVPR
- GeMPool
- MaxPool
🛠️Research Intern
Feb’21 - June’21
Formal Control and Autonomous Systems(FOCAS) Lab
Robert-Bosch Centre for Cyber-Physical Systems (RBCCPS), Indian Institute of Science (IISc), Bangalore
Supervisor: Dr. Pushpak Jagtap, IISc, Bangalore
- Led the setup and calibration of PhaseSpace Motion Capture System and developed ROS support for integrating the system with Turtlebot3 robots
- Deployed Turtlebot3 robots with differential and mecanum drive configurations and utilized motion capture for accurate robot position tracking and real-time control adjustments
- Implemented a Control Lyapunov Function (CLF) based controller in Python to guide unicycle modeled agents (robots) to desired poses
- Implemented a barrier certificate-based collision avoidance algorithm for multi-agent systems using ROS(Python)
- Achieved a 30cm safety radius in a 6m x 5m arena
(Video 1) (Video 2)
🛠️Research Intern
Jul’21 – Dec’21
Robotics Innovations Lab(RIL), Indian Institute of Science, Bangalore
Supervisor: Dr. Abhra Roy Chowdhury, Indian Institute of Science
- Constructed a differential drive rover robot platform with DC motors, encoders, microcontroller, and forklift
- Developed models and control programs in MATLAB to enable autonomous navigation:
- Characterized gear motor response through PWM speed sweeps and data analysis
- Implemented differential drive kinematics for low-level control of driving and arm motions
- Derived and simulated kinematic and dynamic models of rover motion and used for open loop control
- Designed and tuned a PID controller with wheel encoder feedback for precise closed loop position and heading control
- Added webcam and localization algorithms to determine rover location within the test arena
- Integrated navigation and vision systems for high-level arena navigation and object manipulation tasks
- Enhanced autonomy with line following and obstacle avoidance behaviors
- This advanced robotic system incorporated mechanical design, modeling, control theory, computer vision, PID control, path planning, and autonomous decision-making
- Demonstrated expertise in mechatronics, autonomous robotics, and advanced control algorithms
(Project Report) (Project Video)
Data Science Intern
M76 Analytics, Mumbai Aug’20 – Oct’20
Supervisors: Jai Mrug, Srikanth Atkuri
- Developed automated data processing functions in Python to clean and preprocess real-time industry data
- Enabled more efficient analysis by engineering the data into structured formats by 25%
- Built scripts for tasks including data formatting, handling missing values, outlier detection, feature encoding, and normalization
- Deployed data pipeline at the backend of the organization’s decision support system “MEGO”
- Demonstrated skills in Python programming, data manipulation, pipeline development, and integration with business systems