About Me

Hi there! I’m Priyansh, and I’m a Robotics Engineer/Researcher.

Education

• MS by Research, IIIT-Hyderabad.

Projects

Mobile Manipulation

• Whole Body Control using ROS framework.
• Setting up of Navigation stack and low-level controller for the entire system.
• Performing tasks like Door Opening and other non-prehensile manipulation using Mobile Manipulator.
• Non Prehensile Manipulation using Optimisation frameworks.

Residual Learning for Manipulator Actions

• Implementation of Residual Learning using Neural Networks to bridge the sim-to-real gap in manipulator actions (non prehensile action:Striking), reducing control errors.

Language Conditioned Diffusion Policy

• Implemented Language Conditioned Diffusion Policy for real-world tasks.

Visual Odometry

• Visual Odometry using Stereo and RGBD cameras for indoor and outdoor environments.
• Integrated Light Glue, a feature matcher, with the VO algorithm.

Trajectory Optimization

• Trajectory Optimization using sampling-based MPC for Robot Path Planning.
• Implemented Model Predictive Path Integral Update Rule for a time horizon.

Model-Based Controllers

• Implementation of Gravity Compensation, Force-Torque, Hybrid-Force-Position, Null-Space, and Operational Space Controllers on manipulators.

Courses

• Robotics Planning and Navigation
• Computer Vision
• Machine Learning
• Mobile Robotics

Contact Me

• Email: sinhapriyansh.15@gmail.com
• LinkedIn: Priyansh