Robotics M.S. student at the University of Minnesota. Background in physics and mechanical engineering from BITS Pilani '25.
Currently in the RPM Lab working on Sim2Real RL for dexterous manipulation, starting with a UR5e arm with a Robotiq 2F-85 gripper and separately exploring Unitree G1 Dex3-1 hands, and building multimodal data collection pipelines with ROS2.
Previously at the Indian Institute of Science (Stoch Lab), where I trained and deployed RL locomotion policies on a 70 kg custom quadruped.
- GRoQ-LoCO: Generalist Quadruped Locomotion via Offline Datasets — arXiv:2505.10973
| Project | What it does |
|---|---|
| Barrier-Loco | Asymmetric actor-critic with barrier critic for quadruped locomotion on rough terrain |
| multimodal-robot-data-collection-pipeline | ROS2 pipeline recording RGB-D, GelSight, and gripper state on dual UR5e arms |
| quest3-bowling-ball-tracking | Quest 3 mixed-reality bowling trainer with live YOLO/SAM2 ball tracking, lane-calibrated trajectory replay, and shot statistics |
| vlm-grasp | Language-guided grasp detection with fine-tuned Qwen3-VL-8B |
| dream-team-research-automation | Multi-agent research system with dynamic specialist recruitment and safe code execution |
| cv5561-f25-team-asa | Class-aware seam carving combining DINOv3, Depth Anything 3, and RGB-VST saliency |
| Project | What it does |
|---|---|
| worldvalues-qwen-finetuning | Data synthesis for LLM fine-tuning on WorldValuesBench with Qwen3 |
| isaac-gym-server-gui | Run Isaac Gym with live GUI on headless HPC clusters via VNC |
| arithmetic-transformer-experiments | Small transformers for elementary arithmetic with abacus embeddings |
| planning-optimal-grasps-html-demo | Interactive explainer for Ferrari and Canny's 1992 optimal grasp planning |
| dangerous-dave-mod | Dangerous Dave on Windows 11 with gameplay cheats via bootstrapped DOSBox |