Profile pic

Hello!

I’m Achintya, a robotics engineer working on Large Behavior Models at Toyota Research Institute. Previously, I helped develop legged robots at IHMC and Boardwalk Robotics. I got my Bachelor’s in Computer Engineering from Georgia Tech, where I was part of the LIDAR lab, working on tactile sensing and loco-manipulation research.

I work across the robotics stack on controls, learning, simulation, data visualization and logging tools, and sensing. I’m always interested in getting stuff working on hardware and have worked on software-hardware integration for a bunch of robots.

Stuff I've worked on

Image

RB-Y1

ML, Controls, Teleop, Logging, Perception, Hardware bringup

Image

Alex

Controls, RL, Perception, Hardware bringup, Firmware, Electrical+Mechanical Integration

Image

Nadia

Custom hydraulics, controls, RL, Simulation, Logging, Teleop, Perception, Operator UI

Image

Valkyrie

Multi-contact scripting and planning, Whole-body control, Teleoperation

Image

GelSight + KUKA iiwa and UR-10

Autonomous cable routing using tactile sensing, motion planning, sensor design

Image

Digit

Locomotion controls and planning, simulation, troubleshooting and testing

Image

Cassie + Kinova Jaco 2

Comms, low-level control, loco-manipulation, electronics integration, hardware testing

Image

Mini Cheetah + “SLAMbox”

SLAM, Path Planning, ROS Nav, Perception package design

Image

Athena: a low cost, backdrivable arm

20:1 QDDs, ODrives, Custom encoders + CAN bus comms, Impedance control using Drake