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Posts

Isaac Gym for Unitree G1

3 minute read

Published: November 06, 2025

This blog guides through using Issac Gym for training reinforcement learning policies for humanoid robots using Unitree G1.

portfolio

Distributed Clustering and Control in Mobile Robots

Published: February 28, 2023

Developed decentralized policies for swarm agreggation and swarm control

Autonomous Robot Charging Station

Published: March 30, 2023

Developing generalist policies for indoor navigation in humanoid and other legged systems

Robot Foot Design Development

Published: April 10, 2023

Designed feet for legged robots

Summer internship: Systemantics India

Published: July 15, 2023

Developed momentum observer for teleoperation, kinesthetic learning and collision motinoring

Bajaj Torq: Engine Redesign Competition

Published: March 30, 2024

Developed design stratergies to ensure compatibility of 2-wheeled engines with E-20 eco-fuel

Martian Rovers

Published: May 01, 2024

Developed autonomous rovers capable of traversing complex terrain and dextrous manipulation

UV Measuring Robot for modelling, control and simulation of mSLA 3D-printers

Published: July 15, 2024

Developed a robot for measuring UV distribution. Integrated with mSLA 3D printer modelling for fine control in printing graded structures

Logistic Bot: An integrated manipulator, mobile robot systems for factory logistics

Published: October 30, 2024

Developed the architecture for autonomously handling factory logistics using a serial manipulator and mobile robot

Bipedal Robot

Published: November 15, 2024

sEnVision: A 6 DoF bipedal robot capable of human-like gait

Attitude Control of a 1D Dalancing Bot

Published: April 30, 2025

Developed a platform for to test control stratergies on drone-like dynamics <r>

Developing robust diffusion model for RGB based robot pose estimation

Published: August 01, 2025

This project focuses on improving PoseDiff - a diffusion-based model for estimating robot pose using only RGB data from a fixed camera.

General Indoor Navigation of Humanoid Robots

Published: November 04, 2025

Developing generalist policies for indoor navigation in humanoid and other legged systems

projects

publications

Improving air quality in classrooms using ART and using ML to expedite simulation results

Published in CFD FOSSEE Case Studies, 2024

This case study examines air flow patterns that exist in a classroom environment using ART.

Recommended citation: Agarwal, K. (2024). "Improving air quality in classrooms using ART and using ML to expedite simulation results" CFD FOSSEE Case Studies. 2024.
Download Paper

Direct Air Capture

Published in , 2025

This describes the complete technology required to build bicycles that can directly absorb carbon-dioxide from the air when driven.

Recommended citation: Agarwal K., Dutta A., Gupta A., Jajoriya M., Upadhyay A., Karim S.,” Ergonomic Domestic Direct Air Capture System for Bicycle Integration Utilizing Solid-Phase Absorbents”, 2025

Slurry Cleaning Device

Published in , 2025

This work presents the design and development of an extendable handheld system capable of efficiently removing slurry from septic tanks.

Recommended citation: Agarwal K., Jajoriya M., Upadhyay A.,”Electromechanical Extendable Slurry Cleaning Device”, 2024

teaching

CS101

Undergraduate course, Indian Institute of Technology Bombay (IIT Bombay, IITB), Computer Science Department, 2023

Served as teaching assistant under Prof. Suyash P. Awate

Served as teaching assistant under Prof. Prasanna Gandhi for the course Design of Mechatronic Systems with over 2000 students. The course was offered in partnership with NPTEL, a government-sponsored MOOC platform. As a TA, I designed assignments, question papers, and practice problems. My questions always highlighted various mechatronic applications, teaching students content beyond regular problem solving.

Kushal Agarwal