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Siddarth Ashok
Intern Mechanical/Robotics Engineer specializing in controls, computer vision, and SLAM
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About
Robotics software engineer/researcher with hands-on experience building a MuJoCo-based digital twin of a 6DOF soft-actuated manipulator, spanning robot design, custom actuator dynamics, classical control (PID/MPC), and RL (imitation learning and TD-MPC2 model-based RL). Also has ROS1-in-Docker SLAM integration/visualization experience and delivered a major trajectory-tracking improvement (error reduced from ~100mm to ~5mm) via Savgol smoothing, plus prototype fleet communications work for a solar-powered power line inspection robot.
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Key Strengths
- Built a digital twin physics simulator for a 6DOF soft-actuated robotic arm (MuJoCo/JAX/PyTorch) for control testing and RL training
- Implemented and evaluated multiple control strategies (PID, MPC) plus custom actuator dynamics modeling
- Set up RL environment and policies (imitation learning; working toward TD-MPC2 model-based RL)
- ROS1 + Docker SLAM integration and visualization (ODOM/TF/VIO/RViz) with SegMAP and SLideSLAM
- Improved trajectory tracking by smoothing planner outputs with a 3-step Savgol filter, reducing average error ~100mm to ~5mm
- Implemented prototype-to-hub Bluetooth communications for a fleet-oriented power line inspection robot
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