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darshmenon/README.md

Darsh Menon

Robotics engineer focused on perception, planning, and learning for autonomous systems

LinkedIn • Portfolio • RoboCloud Dashboard

End-to-end autonomous robots on ROS 2 — RL for manipulation/locomotion, CV for perception, expressive HRI, world models + VLAs for long-horizon tasks. Stack: ROS 2, MuJoCo, Nav2, SLAM, MoveIt 2, Open-RMF.

What I Build

  • Manipulation & Locomotion: UR arms + Robotiq grippers, CHAMP quadruped, RL policies via ROS 2 policy nodes
  • Animatronics & HRI: 25-servo Dynamixel face, multimodal emotion recognition, lip sync transformer
  • Navigation & Fleet: Nav2 + SLAM Toolbox, Open-RMF for multi-robot coordination

Open to robotics/AI/RL/CV/HRI collaborators building real deployable systems.

GitHub Stats

📧 darshmenon02@gmail.com • LinkedIn

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  1. UR3_ROS2_PICK_AND_PLACE UR3_ROS2_PICK_AND_PLACE Public

    UR Robotic Arm with Robotiq 2-Finger Gripper for ROS2

    C++ 49 6

  2. pickplace-rl-mobile-manipulator pickplace-rl-mobile-manipulator Public

    Mobile manipulator pick-and-place via reinforcement learning — UR3 arm on a diff-drive base, trained end-to-end with TQC in Gazebo/ROS2

    C++ 28 1

  3. rosnav rosnav Public

    Full-stack ROS 2 autonomous navigation: Nav2, SLAM Toolbox, Gazebo Harmonic, multi-robot fleet coordination, coordinated frontier exploration, MPPI controller, behavior trees & waypoint following o…

    Python 34 5

  4. quadruped-robotics-stack quadruped-robotics-stack Public

    Unitree Go2 quadruped robot dog — RL locomotion training (MuJoCo + Gazebo Harmonic), ROS2 CHAMP and Quad-SDK NMPC walking controllers, PPO policy, keyboard teleop, and multi-terrain simulation

    C++ 8 4

  5. ur-arm-rl ur-arm-rl Public

    Reinforcement learning environment for UR5e arms with MuJoCo 3 — SAC training for reach, pick-and-place, and symmetric multi-arm cooperative tasks. Includes a ROS 2 policy node for Gazebo deployment.

    Python 3

  6. rl-bipedal-robot rl-bipedal-robot Public

    rl-bipedal-robot is a reinforcement learning project where an agent learns to walk

    Python 2