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Achievement: Pull SharkAchievement: YOLO

Achievements

Achievement: Pull SharkAchievement: YOLO

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daatsi-aeres/README.md

Hi, I'm Siddharth

I build software for robots that run on real hardware: perception, SLAM and state estimation, and robot learning. I'm finishing an M.S. in ECE (Intelligent Systems, Robotics & Control) at UC San Diego in March 2027, and I'm looking for full-time robotics software roles starting April 2027.

  • Amazon Robotics (SDE intern, 2026): a production C++ library that validates, dispatches and tracks robot skills over ROS 2, and a VLM prototype that turns commands into executed robot skills.
  • Addverb Robotics (robotics engineer, 2023-2025): lead architect of the 6-DoF pose estimation pipeline from raw point clouds on warehouse robots, deployed at customer sites.
  • UC San Diego ARClab (research): sim-to-real reinforcement learning for dexterous grasping on real Inspire and Wuji hands.

Website · LinkedIn · Medium · sramasushil@ucsd.edu

Projects
plane_segmentation_tool · C++17, PCL
6-DoF pose of box faces from raw depth point clouds: RANSAC, clustering, MLS, minimum-area rectangle. Tested, benchmarked, CI. The open-source core of my warehouse picking pipeline.
robust-orb-slam3 · C++, OpenCV, RealSense
Adaptive CLAHE, guided filtering and IMU-guided deblurring in front of ORB-SLAM3. 23% less time in degraded tracking under glare.
smolvam · PyTorch, MuJoCo
Robot control from a small video model: LoRA-tuned image-to-video generator plus a flow-matching action head. ~60% cube-stacking success end to end.
multimodal-slam · Python, GTSAM
LiDAR SLAM with ICP and loop closure, EKF visual-inertial SLAM on SE(3), IMU orientation tracking with panorama stitching.
home-tidying-robot · ROS 2, Nav2, Gazebo
A custom mobile manipulator that tidies a two-room home autonomously.
vo-frontend · C++17, OpenCV, Eigen
Monocular visual odometry front end from scratch: ORB, essential matrix, triangulation, PnP tracking.
epipolar-visualizer · C++, OpenCV
Interactive tool for two-view geometry: features, matches and epipolar lines update live as you tune parameters.

Toolbox

C++ (14/17), Python · ROS 2, DDS · PCL, OpenCV, Eigen, GTSAM · PyTorch · Isaac Sim, MuJoCo, Gazebo · Docker, CI/CD · Jetson, ARM64, RealSense, LiDAR, IMU

Pinned Loading

  1. plane_segmentation_tool plane_segmentation_tool Public

    6-DoF pose of planar faces (box tops, totes) from raw depth point clouds. C++17 + PCL, tested and benchmarked.

    C++ 2 1

  2. epipolar-visualizer epipolar-visualizer Public

    Interactive C++/OpenCV tool to explore features, matches and epipolar geometry.

    C++ 1 1

  3. vo-frontend vo-frontend Public

    Monocular visual odometry front end from scratch in C++17: ORB, essential matrix, triangulation, PnP.

    C++ 1