PROJECT_MODULES
VLM-Based Autonomous Navigation
Intent-based autonomous navigation for GEM e4 using GPT-4o VLM. Built full pipeline: BEV perception, collision-free planning, Stanley control. Achieved 90% end-to-end task success and 88% accuracy on KITTI real-world dataset.
Vision-Language-Action System for Humanoid Manipulation
Automated pipeline to label 1,607 clips from 72 YouTube videos. Trained 19M-param Temporal Transformer achieving 77-85% accuracy on unseen demos. Hierarchical mapping to robot primitives with YOLO fusion for disambiguation.
Humanoid Motion Planning
Implemented whole-body locomotion and motion planning for Unitree G1. Enforced ZMP control, MPC balance and RL locomotion for stable manipulation and reaching tasks.
CrossViT: Cross-Embodiment Visual Perception
Trained cross-attention ViT conditioned on 32-dim kinematic features for embodiment-aware representations. Achieved 99.3-100% embodiment classification vs 20% baseline. Demonstrated zero-shot generalization to unseen humanoid robots.
Pedestrian-Aware AV Safety System
TTC-driven safety architecture. Fused LiDAR + RGB-D for pedestrian tracking with 90% success rate.
O-VLA: Trajectory Optimization Safety Layer
Morphology-agnostic trajectory optimizer transforming unsafe VLA outputs into collision-free paths. Achieved 100% constraint satisfaction and 60-100% collision reduction across 5 robot morphologies (6-23 DOF) in 0.03-0.44s.
Open-Vocabulary 6D Pose Estimation
Zero-shot 6D tracking architecture with VLM-based semantic inventory. Achieved 76.5-100% ADD-S AUC on YCB-Video.
Dynamic Object Handover System
Vision-based HRI with real-time hand tracking. Robot adapts to human position for seamless object transfer.
Terrain-Aware Navigation
Developed a perception pipeline converting depth clouds to elevation maps for quadruped footstep placement.
RL Locomotion + Safety
Trained terrain-adaptive locomotion with PPO and integrated CBF as a real-time safety filter. Achieved zero-fall locomotion with 99% unsafe action rejection.
Quadruped Locomotion (RL)
Trained ANYmal quadruped policies using Proximal Policy Optimization. Achieved robust traversal on irregular terrain with 0-fall safety constraints.
VIO + Footstep Planning
Fused Visual-Inertial Odometry with footstep planning. Enabled autonomous navigation in GPS-denied environments with <10cm drift.
EMG-Controlled Prosthetic Arm
Built a 5-DOF prosthetic arm controlled via EMG signals. Deployed real-time gesture classification on ESP32 using XGBoost, achieving 96% accuracy.