Posts by Collection

patents


2017_brl

Systems And Methods For Teleoperated Robot (Non-provisional Filed)

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).

projects

Feb 2019 - June 2020

2017_brl

A Discriminative-Deliberative Framework for 6-Dof Pose Estimation

Location: Search Based Planning Lab, RI, CMU

Learning based discriminative 6-Dof pose estimation methods require large datasets with annotated ground truth poses. Deliberative search based perception methods like PERCH 2.0 make assumptions that limit their scalibility in 6-Dof pose estimation scenarios. In this work, we combine the two together, building on their strengths and addressing the shortcomings of each. Our MaskRCNN and PERCH 2.0 based framework achieves better accuracy than state-of-the-art purely discriminative methods and requires training only for instance segmentation.

Paper : Master’s Thesis, IROS 2020 / Videos : Clip 1 / Code : GitHub

Skills : C++, CUDA, Python, ROS, PCL, OpenCV, OpenGL, MPI, PyTorch, Unity

Sep 2019 - June 2020

2017_brl

PERCH 2.0 : Large Scale Deliberative Perception on GPU

Location: Search Based Planning Lab, RI, CMU

Perception Via Search (PERCH) is a class of algorithms that search for the best explanation of the observed scene in a space of possible rendered scenes, thus accounting for occlusion. However these algorithms are slow, owing to their deliberative nature. In this work we redesign these algorithms in order to exploit their inherent parallel nature better on a GPU. The redesigned algorithm, PERCH 2.0, is upto a ~100X faster that its predecessor PERCH.

Paper : Master’s Thesis, IROS 2020 / Videos : Clip 1 / Code : GitHub / Skills : CUDA, OpenMP, C++, Python, MPI

March 2019 - May 2019

2017_brl

Visual Learning for Jenga Tower Stability Prediction

Location: RI, CMU

Deep neural networks are commonly used for object detection and classification. In this work, we explore if we can enable networks to learn physical intuition for predicting stability of a Jenga tower on removal of individual tower blocks. A Mask-RCNN + Inception-V4 based pipeline was created for this purpose.

Links : Presentation / Code : GitHub / Skills : Python, PyTorch, TensorFlow, MuJoCo

April 2014 - May 2015

2017_brl

Perception for Estimating Weed Density and Controlling Herbicide Use

Location: IIT Kharagpur, Kharagpur, India

Optimal application of herbicide for weed eradication is both cost effective and good for the environment. In this project, I designed a 6 camera and embedded controller based system that varies herbicide output based on weed density estimation from color images, cutting chemical usage by 79.5% & achieving weeding efficiency of 90.26%

Paper : Current Science 2018 / Media :

Skills : C++, OpenCV, Arduino

Feb 2017 - Jun 2017

2017_brl

Computer Vision Based Retail Checkout System

Location: Bangalore, India

SaturnCart is AI that accompanies the user as he shops, verifying his cart-items in real-time, surfacing offers based on cart items, and providing valuable recommendations. In this project, we designed a prototype consisting of a mobile app (which is placed on the shopping cart), linked to a computer vision system on the cloud and a weight based embedded system (under the shopping cart).

Videos : Clip 1

Skills : OpenCV, Arduino, TensorFlow, React Native

May 2014 - July 2014

2017_brl

Visual Odometry in Smoke Occluded Environments

Location: AIR Lab, RI, CMU

Presence of smoke in the environment leads to loss of color contrast, precision and saturation and hence visual odometry algorithms are unable to find distinguishing features in the image. In this project, I developed an integrated real-time image dehazing and visual odometry approach for autonomous aerial navigation on a smoke degraded shipboard which was tested on a real smoke filled shipboard dataset.

Links : Report / Videos : Clip 1

Skills : C++, OpenCV, ROS

Feb 2017 - May 2017

2017_brl

AirCare - A Voice Drive Customer Care Solution

Location: Bangalore, India

AirCare is a voice based customer care solution for Airtel customers. It is designed to replace conventional IVR systems that can get extremely complicated and frustrating for customers. AirCare consisted of an Alexa app talking to customers over a voice call or through the AirCare mobile app. AirCare won the 2nd Prize at Airtel Whatthehack 2017.

Links : Presentation / Code : GitHub / Skills : Python, Alexa, Android

June 2019 - June 2020

2017_brl

Pose Estimation of Moving Objects on a Conveyor Belt

Location: Search Based Planning Lab, RI, CMU

PR2 is a full body mobile manipulator (or humanoid) that consists of a 7-DoF arm. In this project, I implemented an ICP based pose estimation strategy that works with a search-based planner to grasp moving objects of a conveyor belt. I improved the pose estimation strategy by deploying PERCH 2.0 for this task enabling spatially consistent accuracy across the conveyor length.

Papers : RSS 2020, Master’s Thesis / Videos : Clip 1, Clip 2 / Code : GitHub / Skills : Python, ROS, PCL

June 2016 - July 2016

2017_brl

Estimato - An Automated Checkout Solution for Fruits/Vegetables

Location: Bangalore, India

Standardization in weights and packaging of items has saved us an incredible amount of effort and time. But this practice of manually weighing and calculating price is still followed while buying items like fruits and vegetables. Estimato is designed to replace the human at the counter with a computer that determines labels the items using a camera and simultaneously calculates the weight, thus generating the overall bill. Estimato was shortlisted for the finals of a hackathon organized by the Government of Rajasthan, India.

Videos : Clip 1 / Code : GitHub / Skills : Python, Android, React Native

Dec 2016 - May 2017

2017_brl

Kontiki Headset - A Secure Computing Platform

Location: Bangalore, India

Kontiki Headset is a mixed reality headset for secure file sharing, messaging and video streaming that uses iris recognition to authenticate users and encrypt data. The proof-of-concept prototype consisted of a mobile device acting as the main OS, a Raspberry Pi with integrated camera, IR LEDs and proximity sensor sensor for iris recognition. User’s personal mobile device acted as a remote controller for controlling mouse and keyboard on the headset. All devices communicated over Wi-Fi. I worked on assembling the prototype from scratch, writing the Raspberry Pi code and the Android code for both mobile devices.

Videos : Demo / Skills : C++, Python, Android, AR/VR

Oct 2019 - Dec 2019

2017_brl

Improved MR-MHA* using Conditional Variational Auto Encoders

Location: RI, CMU

Developed a combined learning and search based planning method that reduces planning time by using prior experiences learnt through CVAEs. The planner used (MR-MHA*) exploits loose coupling between high dimensional state representations such as between the base and arm of a mobile manipulator and CVAEs are used to better exploit this loose coupling based on prior experiences.

Links : Report, Presentation / Videos : Clip 1 / Skills : Python, C++, ROS, Planning

Feb 2019 - Oct 2019

2017_brl

Perception and Grasping for Crate Opening on RoMaN

Location: Search Based Planning Lab, RI, CMU

RoMaN is a mobile manipulation platform developed as part of the RCTA project which is a collaboration between several universities, ARL, JPL and GD. In this work, I deployed perception via search for crate detection on RoMaN. We demonstrated higher accuracy as compared to pure learning based methods and demoed the full pipeline of pose estimation followed by crate opening at NREC. The demo was attended by eminent defense personnel.

Papers : SPIE / Videos : Clip 1, Clip 2 / Media : / Skills : C++, ROS, PCL, OpenCV, MPI

June 2013 - May 2015

2017_brl

Evolutionary Techniques for Test Scheduling in 2D/3D Circuits

Location: IIT Kharagpur

Modern chips consist of 100s of cores varying in size and complexity. After manufacturing of the chip, all cores need to be tested under various constraints as fast as possible. This problem is amplified further in 3D ICs. In this work, we explore if evolutionary algorithms such as Particle Swarm Optimization can be used to schedule testing the cores in parallel and minimize test time without violating constraints. We show an improvement of 51% over the SOTA.

Papers : M.Tech Dissertation, ATS 2015, VTS 2015, VDAT 2014 / Skills : C++, Digital Circuits

March 2017 - July 2017

2017_brl

TheraKonnect - An Online Therapy Platform

Location: Bangalore, India

TheraKonnect is a dedicated cloud based software for starting and scaling an online therapy clinic. With it, therapists can easily go online and extend services to clients not in their immediate locality. It handles all aspects of communication surrounding a therapy session and has an interactive video conferencing system to help with therapy for children and individuals with special needs.

Links : Product Website, Presentation / Media :

Skills : PHP, CodeIgniter

Feb 2017 - May 2017

2017_brl

VoicePay - A Voice Drive Payment Solution

Location: Bangalore, India

User Experience is changing everyday and as technology and processing becomes cheap, conversational interaction with users has become the next big UX idea for mobile applications. Voice Pay enables banking using conversational interaction on your smartphone and Alexa devices. VoicePay finished second in ICICI Appathon 2017 (winning INR 7.5 Lakhs) that had over 3000 applications

Links : Presentation / Videos : Clip 1 / Code : GitHub / Media :

Skills : Python, Alexa, Android

Sept 2019 - Present

2017_brl

Full Body Mobile Manipulation on Walker

Location: Search Based Planning Lab, RI, CMU

Walker is a full body mobile manipulator (or humanoid) developed by UBTech that consists of a 3-DoF mobile base and a 7-DoF arm. In this project, I co-wrote the software stack for the entire robot, comprising of planners (arm and base), state machines, controllers and perception modules enabling it to navigate indoors and fetch objects for the user. The capabilities of the robot were demonstrated to over 50 people as part of a continuous demo day in July 2019.

Videos : Clip 1 / Code : GitHub / Skills : Python, ROS, PCL

publications


2017_brl

Particle Swarm Optimization guided multi-frequency power-aware System-on-Chip test scheduling using window-based peak power model

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Visual Odometry in Smoke Occluded Environments

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Gait Cycle Analysis and Inconsistency Detection using Single - Axis Accelerometer

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Testing of 3D-Stacked ICs With Hard and Soft Dies - A Particle Swarm Optimization Based Approach

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Test Scheduling and Test Architecture Optimization of 3D Stacked-ICs Under Various Hardware and Power Constraints

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Test Infrastructure Development and Test Scheduling of 3D-Stacked ICs under Re-source and Power Constraints

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

On-the-go position sensing and controller predicated contact-type weed eradicator

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Provably Constant-Time Planning and Re-planning for Real-time Grasping Objects off a Conveyor

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Toward fieldable human-scale mobile manipulation using RoMan

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Fast and High-Quality GPU-based Deliberative Perception for Object Pose Estimation

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

PERCH 2.0 : Fast and Accurate GPU-based Perception via Search for Object Pose Estimation

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Provably Constant-time Planning and Replanning for Real-time Grasping Objects off a Conveyor Belt

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Fast and High-Quality, GPU-based, Deliberative, Object-Pose Estimation

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).


2017_brl

Human-Scale Mobile Manipulation Using RoMan

This paper is about the number 1. The number 2 is left for future work.

Download paper here

Recommended citation: Your Name, You. (2009). “Paper Title Number 1.” Journal 1. 1(1).

talks


2017_brl

Aerial Robotics Kharagpur

2017_brl

Impact of Using IJTAG for Complex Chip Designs

2017_brl

Virdian-ESpark Pitch Contest

2017_brl

McGinnis Venture Competition Finals

2017_brl

CMU Master's Thesis Talk

teaching


2017_brl

Teaching experience 1

This is a description of a teaching experience. You can use markdown like any other post.

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2017_brl

Teaching experience 2

This is a description of a teaching experience. You can use markdown like any other post.

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