Research & Projects

Research

Robotic Connector Manipulation - IIWA 14 Robot with NIST Board | RRoS Lab

Built simulation environment in NVIDIA Isaac Sim 4.5 for IIWA 14 to perform plug/unplug operations. Developed RL-based control policies and integrated computer vision for connector detection and pose estimation.

NVIDIA Isaac Sim 4.5 Reinforcement Learning Computer Vision IIWA 14 Robot

Publications

Google Scholar

Solving Asset and Liability Management Using Cohort Intelligence and Goal Programming

IG Gala, A Nargundkar, Dr. Anand J Kulkarni (Advisor), A Shastri

Applied Cohort Intelligence and Goal Programming optimization techniques to address complex multi-objective asset and liability management challenges in financial systems.

Optimization Methods for Product and System Design • 2023

Freight Cost Prediction Using Machine Learning Algorithms

P Kulkarni, I Gala, A Nargundkar

Proposed a robust machine learning framework to accurately forecast freight costs, analyzing various predictive models to optimize supply chain logistics and reduce operational overhead.

Intelligent Systems and Applications: Select Proceedings of ICISA 2022 • 2023

Digital Advertisement Platforms: A Comprehensive Survey

J Ambikar, A Paithane, I Gala, P Kulkarni, G Chiddarwar

Surveyed contemporary digital advertisement platforms, evaluating their core algorithms, target audience reach, and overall effectiveness in optimizing targeted marketing campaigns.

Int J Res Appl Sci Eng Technol 11 • 2023

Time Series Forecasting: From Classical to Deep Learning Models

IG Gala, P Kulkarni

Analyzed the evolution of time series forecasting techniques, comparing traditional statistical approaches with state-of-the-art deep learning architectures for predictive accuracy.

AI-Based Metaheuristics for Information Security and Digital Media • 2023

Deep Learning for Toxicity Analysis: A Systematic Review

P Kulkarni, IG Gala

Examined recent advancements in utilizing deep neural networks and NLP algorithms for toxicity analysis, focusing on methodologies for identifying and filtering harmful online content.

AI-Based Metaheuristics for Information Security and Digital Media • 2023

Projects

Task-Aware Local RAG for Robot Procedure and Code Generation

Built a local RAG system using Ollama + FAISS to extract grounded contingency procedures & generate robot code with 40% reduction in hallucinations.

Ollama FAISS RAG Local LLM

Achievements:

  • Recall@5: 84% and MRR: 0.78 on 20+ documents
  • Deployed for on-floor fault recovery support
  • Generated control code for recovery actions with low latency

Real-Time Stock Market Ticker - Full Stack Web & Android App

Developed a real-time stock market ticker and portfolio management system with seamless UI/UX.

MERN Stack React.js Node.js MongoDB Android
View Code Live Demo

CiteLlama – Improving Citations with Context

Fine-tuned Llama 3.1 8B using LoRA on academic citations to generate accurate, grounded citations with 11% boost in quality.

Llama 3.1 LoRA Fine-tuning Academic Citations

Features:

  • Implemented citation formatting for CVPR, AAAI, IEEE, ACM
  • 11% boost in citation quality (BLEU + relevance)
  • 50K+ academic citations dataset

Dexterous Manipulation - Throwing & Catching

Developed an RL-based framework for dexterous manipulation tasks using MuJoCo environments with hand models.

Throw Long Throw Long
Throw Short Throw Short
Catch Allegro Catch Allegro
Catch Leap Catch Leap
Reinforcement Learning MuJoCo SAC Dexterous Manipulation

Technologies:

  • Leap Hand & Wonik Allegro models
  • Soft Actor-Critic (SAC) algorithm
  • GPU-accelerated training

MRI Data Pipeline & GAN-based Augmentation

Engineered MRI data pipeline for 10,000+ scans with GAN-based augmentation for anomaly detection.

GAN Medical Imaging Data Pipeline MRI

Results:

  • Improved MRI image quality (1.5T → 3T equivalent)
  • 10% improvement in classification accuracy
  • Low-latency processing pipeline

Vision-Based Preventive Tool Wear Detection & Data Collection

Developed a computer vision system for continuous data collection and preventive monitoring of tool wear and tear in a manufacturing environment.

Computer Vision OpenCV Preventive Maintenance Data Collection

Features:

  • Automated data collection for tool wear and tear
  • Preventive maintenance to reduce unplanned downtime
  • Integrated with OPC UA framework for continuous monitoring