Yashveer Jain

AAM-SEALS: Aerial-Aquatic Manipulators Simulator

Jan 2024 - Ongoing

Developed a photorealistic simulator using Isaac Sim for Aerial-Aquatic Mobile Manipulators (AAMs) to operate seamlessly across sea, air, and land environments, addressing the limitations of existing mobile manipulators.

• Designed integrated controllers for drone flight, underwater propulsion, and robotic manipulation.
• Implemented particle-based hydrodynamics for high-fidelity aerial and aquatic simulations.
• Developed PID controllers for stable drone flight and applied SAC & PPO reinforcement learning for optimized control.
• Validated smooth robotic transitions across air-water interfaces, improving position-tracking accuracy.

The project benefits aerial, underwater, and mobile robotics research, with open-source code and datasets supporting further advancements.

Perception and Robotics Group

Jan 2023 - May 2023

TinyDepth: Generalized Neural Metric Depth for Palm-sized Robots. Under Review Nature npj Robotics

I designed a robot model, circuit, and programmed its motion, synchronized sensor data, developed ROS software, and integrated decision capabilities for navigating an unknown environment. This was vital for our research as the autonomous robot, within 6 cm scale, required real-time data, calibrated sensors, processing power, and a compact design for desired accuracy and autonomy.