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Sameerjeet Singh Chhabra
Junior Robotics & ML Engineer specializing in simulation, control, and perception
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About
Robotics engineer focused on simulation, modeling, and control, with hands-on sim-to-real experience from a soft, foldable “grasshopper” robot where friction/contact physics and servo dynamics drove real-world performance gaps. Built a ROS 2 voice-operated TurtleBot system integrating YOLOv5 + stereo depth for object picking with an attached arm, and debugged AMCL/SLAM to cut localization error from 10–13 cm to ~5 cm. Currently developing a quadruped in MuJoCo with a 3-layer control stack (RL + MPC + PD) and an RL training pipeline in JAX ahead of hardware.
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Key Strengths
- End-to-end robotics development across CAD, simulation, and control
- Deep sim-to-real debugging via friction/contact-physics parameter tuning
- ROS 2 system integration using DDS/QoS across mixed bandwidth/latency needs
- Multi-component robot architecture (voice -> navigation -> perception -> manipulation) using nodes/topics/services
- SLAM localization debugging and AMCL parameter tuning; reduced error from ~10–13 cm to ~5 cm
- Heterogeneous robot coordination (mobile base + arm) using ROS2 services/topics and a feedback-driven state machine
- Building a multi-level control stack (RL high-level + MPC mid-level + PD low-level) for quadruped locomotion
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