Hi there 👋, My name is Dheeraj and here is some information about me:

Currently looking for a full-time opportunity in robotics software: perception and sensor fusion systems in mobile robots and manipulation. I am also interested in working on real-world problems using computer vision algorithms for different fields of applications.

Current personal projects:

• Application of Moveit in ROS2 to understand skills and its use for extracting object information for manipulation
• Using VIO and behaviour trees for robot perception, navigation, and action planning in mobile manipulators

Recent Work

• Implementing BundleSDF on industrial parts with irregular object geometry for optimal object pose extraction.
• Experimenting with vision pipelines for use in a Voxposer setup
• Replicating OwlVit algorithm for an industrial use case.
• Completed my Master's Thesis at Fraunhofer IPA, Stuttgart on Combining Vision, Force Control and Reinforcement Learning for the task of gear assembly
• Developed a multimodal system in the perception of a robot manipulator in an assembly line.
• Created a data-efficient system capable of training the Reinforcement Learning model quickly with quick deployability

My Career Interest

I am interested in using learning-based systems with scene understanding for robots like mobile manipulators in inspection and disaster rescue. To this end, I have been developing my skills in manipulators, mobile robots, and robot perception through internships and personal projects.

Some of the topics I have worked on are:

• Multi-sensor fusion
• Visual Reinforcement Learning
• Robot perception for navigation and manipulation
• Optical Flow, Visual Odometry, Depth Estimation
• Synthetic Data Generation
• Object pose estimation
• Mechatronic systems
• Robot body and circuit design and prototyping

Education background

• I am a Master Student of Robotics Systems Engineering from RWTH Aachen University, Germany
• I completed my Bachelors Degree in Mechanical Engineering from Indian Institute of Technology, Kharagpur

Technical Experience

• Languages: Python (Pytorch, Tensorflow, Stable Baselines, Gym, MuJoCo), C++, Embedded C
• Tools: NVIDIA Isaac, ROS, Docker, WANDB, MATLAB, LaTeX, Blender