teaching


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)