teaching and tutorials

teaching

• (Spring 2023: instructor, ETH Zurich): Programming for Robotics - ROS

• (Spring 2022: instructor, ETH Zurich): Programming for Robotics - ROS

• (Fall 2021: TA, ETH Zurich): Robot Dynamics

• (Fall 2017: head TA, IIT Kanpur): Autonomous Navigation with Mangal Kothari

  • preparing course materials and assignments
  • guest lecturer on system integration using ROS (slides), robot simulation using Gazebo (slides), mathematical foundation for Robotics (slides), and non-parametric filters for localization

tutorials

The following presentations are based some of the research papers I covered in various reading groups.

• Kinematic Planning for Mobile Manipulators using Optimal Control (slides)
  • Efficient kinematic planning for mobile manipulators with non-holonomic constraints using optimal control, Giftthaler et al. (2017)
• Maximum-a-Posteriori Policy Optimization (slides)
  • MAP Policy Optimization, Abdolmaleki et al. (2018)
  • V-MPO: On-Policy MAP Policy Optimization For Discrete and Continuous Control, Song et al. (2019)
• Meta-Learning with Implicit Gradients (slides)
  • Meta-Learning with Implicit Gradients, Rajeswaran et al. (2019)
• Hierarchical Reinforcement Learning (slides)
  • FeUdal Networks for Hierarchical Reinforcement Learning, Vezhnevets et al. (2017)
  • Data-Efficient Hierarchical Reinforcement Learning, Nachum et al. (2018)
  • Meta Learning Shared Hierarchies, Frans et al. (2017)

As a part of the Robotics Club at IIT Kanpur, I gave these presentations to share knowledge about robotics with the campus community:

• (Summer 2018): Introduction to Robot Operating System (slides, tutorial, post)
• (Fall 2016): Sensors and Actuators (slides)
• (Fall 2016): Introduction to Robotics (slides)