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Miheer Diwan
Junior Robotics & AI Engineer specializing in perception, planning, and manipulation
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Robotics software engineer who led the full perception/manipulation/planning stack for an autonomous watermelon-harvesting robot, including ripe-vs-unripe instance segmentation deployed on Jetson AGX Orin with TensorRT and quantization. Deep ROS 2 experience (custom ZEDx mask driver, LiDAR+stereo fusion, MoveIt 2/Nav2/ros2_control) and proven real-time optimization—cut latency ~40% and achieved consistent 7-second pick cycles in outdoor field conditions.
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Key Strengths
- Led end-to-end development of perception, manipulation, and planning stack for autonomous watermelon harvester
- Built robust instance segmentation pipeline with balanced dataset strategy and targeted augmentations for ripe vs unripe classification
- Deployed and optimized real-time inference on Jetson AGX Orin using TensorRT and quantization
- Designed ROS 2 sensor fusion (LiDAR + stereo) with GPU-based 3D data handling, voxel grids, and time synchronization
- Diagnosed and removed real-time bottlenecks using ROS 2 tracing; moved CPU inference to GPU and introduced multi-threaded executor
- Achieved ~40% end-to-end latency reduction and consistent ~7-second pick cycles in outdoor field conditions
- Established reliable distributed ROS 2 communication via clear message contracts, QoS settings, and validation with rosbag + simulation
- Strong simulation-to-deployment workflow (Gazebo/Isaac Sim/Blender, Dockerized stacks, CI/CD emphasis)
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