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Achievement: Pair ExtraordinaireAchievement: YOLOAchievement: QuickdrawAchievement: Pull Shark

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@pearwpi

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Shakthi-Bala/README.md

Hi, I'm Shakthi Bala 👋

🎓 MS in Robotics Engineering @ Worcester Polytechnic Institute (WPI)
🤖 Robotics Researcher | Manipulation • Aerial Robotics • Perception
🧠 Reinforcement Learning • ROS2 • Isaac Sim • MoveIt

🔍 About Me

I am a graduate student in Robotics Engineering at WPI, with research experience in robotic manipulation, reinforcement learning, and autonomous aerial systems.
I focus on building end-to-end robotic systems, from perception and planning to learning-based control and real-world deployment.

🔬 Research Interests

  • Robotic Manipulation & Grasping
  • Reinforcement Learning for Control
  • Aerial Robotics & Autonomous Navigation
  • Vitual Inertial Odometry
  • SLAM & SFM

🚀 Selected Projects

  • Hybrid RL + Motion Planning for UR16e (MoveIt + PPO fallback)
  • Ensemble Learning for Antipodal Grasping (Cornell / Jacquard benchmarks)
  • Autonomous Drone Racing in Isaac Sim with CBF-based safety filters

🛠️ Tools & Technologies

Languages: Python, C++, MATLAB
Robotics: ROS2, MoveIt, Gazebo, Isaac Sim
Learning: PyTorch, TensorFlow, PPO, TD3
Perception: OpenCV, Open3D, PCL
Hardware: UR5e, UR16e, RealSense

🔗 Links

Popular repositories Loading

  1. Optimization-techniques-on-robotino3 Optimization-techniques-on-robotino3 Public

    C++ 1

  2. Coffee-serving-robot Coffee-serving-robot Public

    C++ 1

  3. RGMC_Simsort_2025 RGMC_Simsort_2025 Public

    1

  4. blender_dataset_generator blender_dataset_generator Public

    The script generates a targeted prim with multiple camera angles, multiple backgrounds, multiple orientation and occulsions

    Python 1

  5. Navigating_through_unknown-Vizflyt Navigating_through_unknown-Vizflyt Public

    This is perception + control stack with which we could navigate autonomously through gaps that are in unknown shape

    Python 1

  6. CBF_for_full_drone_dynamics CBF_for_full_drone_dynamics Public

    This repo implements a CBF safety filter on top of a Non linear Controller provided a very aggressive trajectory

    Python 1