Siddharth Yadav
UG Researcher @ IRAS HUB IIITD | IIITD’27 Computer Science and Applied Maths
- Role
- Undergraduate Researcher at Iras-Hub
- Location
- Gurugram, HR, IN
- LinkedIn followers
- 500 followers
Experience
Undergraduate Researcher
May 2025 — Present · Delhi, IN
Integrated the state-of-the-art Pi0 vision-language policy with Gazebo, MoveIt, and RViz to generate collision-free trajectory plans for the xArm Lite 6 robotic arm. These plans were converted into ROS 2 action goals to enable closed-loop control. Simulated and validated the Pi0-driven trajectories in NVIDIA Isaac Sim and ROS 2 on Ubuntu, achieving a 97% success rate at 50Hz control frequency with the full Pi0 model, demonstrating robust sim-to-real transfer.
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