Some of the robotics projects I've completed.

An icon indicates that a published document is available for more details. An icon indicates that a video result is available.

Human-Robot Interaction

Human State Estimation

Used gaze based techniques to identify human mental workload and motion intent during teleoperation.

Deep Learning

Image Captioning

Implemented a deep learning approach using CNNs + LSTMs to caption images. Flickr8K dataset and InceptionV3 was used to caption the images.

Implementation of 6-DOF GraspNet for Object Manipulation

Implemented a deep learning-based approach for generating a 6-DOF grasp configurations using a CNN. The method enabled robots to grasp diverse objects with robust grasps for object manipulation.

Reinforcement Learning

Grasp and Drop for Fetch Robot arm

Used DDPG with Hindsight experience replay in the OpenAI gym environment to improve efficiency of model training to complete robot pick and place actions.

Controls

Design and Validation of a Linear Controller for a Quadrotor

Designed a controller that can operate in restricted airspace. Completed objective to fly and capture an unknown aerial vehicle and then return to the base.