Hello, I'm Kulbir Singh Ahluwalia

Enhancing Stereo Depth Maps through RGBD-Conditioned Generative Models

Active Semantic Mapping with Mobile Manipulator for Precision Agriculture

Turning Zero Shot into Few Shot via Self-prompting

Implemented Linear, Logistic, Polynomial regression, SVM, Convolutional, and Attention based models

VAE and GAN implementation

Implemented VAE & GAN for digit generation task.

RESNet implementation

Implemented RESNet for classification task on MNIST dataset.

Neural transition-based dependency parser

Machine translation with RNN and Transformers

Text classification with CNN and RNN

SLAM from 2D LiDAR data using split and merge line extraction algorithm

State estimation using Extended Kalman Filter for GPS+IMU+Encoder sensor fusion

Processed data from RTK-GPS, IMU and encoders to plot trajectory of a field robot

Autonomous Vaccine Delivery Robot

Designed an autonomous robot capable of navigating and localizing itself in a test arena using QR codes and arrows. It uses a RGB camera, IMU, optical encoders, and an ultrasonic sensor to detect, retrieve and transport user-specified blocks. Featured video, Robot videos, Featured post

Image segmentation using superpixels

Built a segmentation network using SLIC superpixels as input. A pretrained VGG16 network had its last layers replaced by fully connected layers to classify superpixels. (Accuracy 98%)

Persistent-Monitoring using Multi-Robot (UAV-UGV) Coordination

Optimized a GestureGAN for resource constrained settings

Used MobileNet to optimize cross-view image generation with a 5.7X reduction in parameters.

Self-adjusting roadmaps

Navigation in unknown environments using LD-PRM.

Estimated the motion of a car using Visual odometry

Color segmentation using Gaussian mixture models & Expectation maximization

Image Classification using CNN

AR-Tag detection

Superimposed an image and virtual cube on an AR tag.

Tracked moving objects using Lucas-Kanade Tracker

Baxter transporting cubes in Gazebo

Simulated a Baxter robot transporting cubes between tables in Gazebo using ROS Kinetic. Waypoints were generated using Rviz and obstacles were avoided in the custom-designed Gazebo world.

Implemented A star algorithm for Path Planning on Turtlebot 3

Implemented the A* algorithm in a configuration space with obstacles. The Turtlebot 3 obeys non-holonomic constraints with 8 combinations of two user-defined RPMs.

Path planning for point and rigid robot using Djikstra's Algorithm

Lane detection and Turn prediction for self driving car

Developed an algorithm using hough transform and histogram of lanes. Also implemented homography and warp perspective functions from scratch for overlays.

Agile Robotics for Industrial Automation Competition (ARIAC) 2019

Developed an industrial system with UR 10 robotic arms, conveyor belts, and AGVs. The system picked parts from a conveyor, disposed faulty items, assembled orders, and delivered them using AGVs.

Designed a PID controller for Turtlebot 3

Modelled a UR 5 arm with Parallel Gripper in Rviz

Simulated a 7 DOF UR5 arm using Moveit and Rviz. Calculated DH parameters and computed forward kinematics manually, verified via Peter Corke’s Robotics toolbox. Simulation videos

Designed a LQR and LQG controller

Developed controllers for two inverted pendulums on a moving cart.

Teleoperated gesture controlled robotic arm

Engineered a prototype to transport objects between rooms via web-based remote access with live video and gesture control. The robot featured on-board power, a custom LED light source for low-light navigation, smart device control, and a speaker for prerecorded messages.

Pick n place transporter bot

Awarded First Prize in IIT Roorkee and placed 6th out of 400 teams at IIT Bombay. Video 1 Video 2

Smart Garden

Won First Prize in the Texas Instruments Hardware Hackathon.

Teaching Assistant - CS498GC: Mobile Robotics for CS

Co-developed with Prof. Girish Chowdhary
• Co-developed course curriculum focusing on mobile robotics, ROS2, sensor fusion, and SLAM algorithms.
• Managing coding exercises and problem sets involving Extended Kalman Filtering and odometry implementation.
• Conducting office hours and helping students with ROS2 development and debugging.
• Maintaining course website and autograding infrastructure on Gradescope.
• Special Topic Fall 2025: SLAM-ing on Mars

Teaching Assistant - CS444: Deep Learning for Computer Vision

Instructor: Dr. Svetlana Lazebnik
• Updated and verified starter code for assignments, and answered student questions during office hours and through Campuswire.
• Assessed student submissions via SpeedGrader on Canvas, and designed multimodal quiz questions, including single- choice, multiple-choice, and matching formats.

Teaching Assistant - CS519: Scientific Visualization

Instructor: Dr. Eric Shaffer
• Created multimodal exam questions with integrated visualizations using Python and matplotlib for assessing student understanding of scientific visualization concepts.
• Assisted students with implementation of advanced visualization algorithms including ray marching, transfer functions, and interactive widget development.

AI Intern - Earthsense Inc.

Supervisor: Michael McGuire, Lead Computer Vision Engineer
• Key Achievement: Contributed to developing a natural language-conditioned waypoint generation pipeline for agricultural robot navigation.
• Implemented state-of-the-art NLP and CV pipelines for Mobile Manipulators, enabling natural language instruction following.
• Created an automatic labeling pipeline for large outdoor robot navigation datasets using Grounded SAM2, streamlining data processing.
• Deployed and integrated open-source Visual Language Models (Molmo-7B-demo, Gemma-3-27B, Qwen-2.5-VL-72B, Qwen3-30B, Llama4-Scout, Spatial-VLM) for robot reasoning in image space and open-world natural language instruction conditioned question answering for 4 wheeled skid steer outdoor robots.
• Enhanced ROS-based systems for real-world agricultural applications, directly supporting the advancement of Physical AI.

First prize in B.Tech. Major Project, 2019

First prize in final year MAJOR PROJECT in the B.Tech. Examination of Electrical Engineering, 2015-19 titled Teleoperated Gesture controlled Robotic arm.

Certificate of Appreciation, (2017,2018)

Received certificate of appreciation for contributions to IEEE PEC (2017,2018).

Programming in Python, 2019

Data Structures & Algorithms in Python, 2022

National Bal Shree Award, 2011

Awarded with the National Bal Shree Award in Creative Scientific Innovations by the Ministry of Human Resource Development, Govt. of India. It consisted of a series of scientific hands-on tests and interviews at city, zonal and national level.