Sudhir Pratap Yadav

Indian Institute of Technology (IIT) Jodhpur May 2014 - May 2018

B.Tech. in Electrical Engineering

Academic Distinction Award (2016-17)

Software (Languages, Frameworks and Tools)

Python, Javascript, C++, Matlab, php, Pytorch, Tensorflow, ROS, Gazebo, PyBullet, GPU Server (A100)

Hardware (Robots)

UR5, Kinova, Turtle Bot arm, TAL Brabo Industrial Robot, Quadcopter, Humanoid robot, Quadraped robot, P3DX robot, several hand-made robots

Hardware (Embedded)

Intel realsense camera, Kinect camera, Motioin Capture System, IMU, GPS, Lidar, Dynamixel Motors, Arduino, RaspberryPi, UP square board

Research Engineer September 2021 - January 2023

Vision based Autonomous Systems Lab - TIH iHub Drishti

• Successfully setup vision-based robotics laboratory by designing the lab space, planning the nec- essary components, conducting thorough market research for appropriate robots and equipment, and coordinating the procurement and installation.
• ”Learning Vision-based Robotic Manipulation Tasks Sequentially in Offline Reinforcement Learning Settings.” Sudhir Pratap Yadav, Rajendra Nagar, and Suril V. Shah. arXiv preprint arXiv:2301.13450 (2023). Pre-print Code arXiv

Robotics Software Engineering Intern May 2017 - July 2017

TCS Innovation Lab

• Developed ROS interface for 5-DOF TAL BRABO Industrial robot arm. Robot was hacked to be controlled via Arduino as original controller was closed source. A visual-servoing pipline was developed to demonstrate proper working of interface.
• Documentation Code

Robotics Research and Development Intern May 2016 - June 2016

Robotics Research Centre - IIIT Hyderabad

• Developed kinematic model of 26-DOF humanoid. Implemented static balance by calculating ZMP,COM and using force sensors.

Vision based control of UR5 robotic arm using Deep RL July 2017 - May 2018

Robotics Lab IIT Jodhpur — Dr. Suril V. Shah

• Visual Servoing for Eye-in-Hand Robotic Manipulator using Deep Deterministic Policy Gradients (DDPG). Aim was to train UR5 arm for visual-servoing a specific object of certain colour. ROS was used to control UR5 robot while RL agent was trained using TORCH(LUA) on simulator GAZEEBO.
• Documentation Code

Quadruped Navigation using RL Dec 2016 - May 2017

Robotics Lab IIT Jodhpur — Dr. Suril V. Shah

• Main focus of this project was to make quadruped learn to walk on terrain using TD learning. The Kinematic model of quadruped and RL agent were developed in C++.
• Documentation Code

Simulating Autonomous Mini-Helicopter July 2016 - Dec 2016

Robotics Lab IIT Jodhpur — Dr. Suril V. Shah

• Design and development of autonomous mini helicopter to carry 2.6 kg nuclear radiation sensor in Emergency Scenario in desert area. A very accurate simulation of the helicopter was developed in matlab and PID controller was used to control its trajectory.

Quadcopter trajectory tracking June 2016 - July 2016

Robotics Lab IIT Jodhpur — Dr. Suril V. Shah

• Implemented PID control on quadcopter for making it track different trajectories. State feedback was taken using VICON motion capture system and quadcopter was controlled through ROS.
• Video

Control of P3DX and Mapping June 2016 - July 2016

Robotics Lab IIT Jodhpur — Dr. Suril V. Shah

• The P3DX robot was operated using ROS using PID contoller. Kinect was used as depth sensor for building a map of a corridor using the Occupancy Grid mapping algorithm implement in MATLAB.
• Documentation Code Video

Gait Planning Of Quadruped Jan 2016 - May 2016

Robotics Lab IIT Jodhpur — Dr. Suril V. Shah

• Developed a kinematic simulation of quadruped in MATLAB for walking using crawl gait. Crawl gait was also implemented on real quadruped robot.
• Code

Robotics Lab VR Tour 2023

• Developed a kinematic simulation of quadruped in MATLAB for walking using crawl gait. Crawl gait was also implemented on real quadruped robot.
• VR Tour Code

IITJ Nerfs 2022

• Developed a kinematic simulation of quadruped in MATLAB for walking using crawl gait. Crawl gait was also implemented on real quadruped robot.
• Coming Soon

Playing 2048 game using R 2017

• Playing 2048 game using RL (2017)) Game created in C++ and python and solved using TD-learning
• Code

Unblock-me puzzle 2014

• Vision based detection of game state and automatically solving the puzzle.
• Code

ROS Workshop 2022

• Conducted a small workshop on Indtroduction to ROS (Robot Operating System)
• Content

Mentor on Coursera 2017

• Given opportunity to be mentor of the course on Robot Estimation and Learning
• Certificate

Head (2015), Mentor (2016) Robotics Club 2022

• Mentored students and took few lecture series so to strengthen robotics culture in IITJ

Volunteer Parivartan Group 2014-2017

• Group was focused on social service. My group was given opportunity to teach school students who could not afford tution.