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darshmenon/README.md

Hi, I'm Darsh Menon 👋

Full-stack robotics developer — perception to actuation:
arm manipulation · autonomous navigation · animatronic HRI · reinforcement learning

LinkedIn • Medium • Portfolio • RoboCloud Dashboard

I believe robotics is most compelling when simulation fidelity, learned behaviour, and real hardware form a tight deployable loop — from servo-level lip sync to fleet-scale coordination.

At a Glance

  • Focus: robot manipulation, reinforcement learning, autonomous navigation, animatronic HRI, multi-robot coordination
  • Current direction: RL policies on UR arms and quadrupeds; multimodal emotion transformers and phoneme-level face animation on a 25-servo animatronic head
  • Open to: robotics developers, RL practitioners, HRI researchers, ROS 2 peers, open-source contributors

What I Build

Manipulation & Locomotion — UR arms + Robotiq grippers, CHAMP quadruped, RL policies in MuJoCo 3 & Isaac Sim, deployed via ROS 2 policy nodes.

Animatronics & HRI — 25-servo Dynamixel face, multimodal emotion recognition (audio + text + vision + prosody), lip sync transformer.

Navigation & Fleet — Nav2 + SLAM Toolbox, Open-RMF multi-robot coordination, MoveIt 2.

Looking for People Who...

  • care about real deployable robotics and HRI, not just simulation demos
  • work on manipulation, locomotion, navigation, or expressive robot faces
  • want to collaborate on open-source ROS 2, RL tooling, or multimodal AI
  • enjoy discussing engineering trade-offs, servo kinematics to transformer attention

GitHub Stats

Let's Connect

If you are building on robotics, reinforcement learning, HRI, or expressive animatronics, feel free to reach out.

📧 darshmenon02@gmail.com • LinkedIn • Medium

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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++ 38 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++ 25

  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 13 2

  4. 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

  5. quadruped-dog-rl quadruped-dog-rl Public

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

    Python 4

  6. multi-robot-fleet-ros2 multi-robot-fleet-ros2 Public

    ROS 2 monorepo for multi-robot fleet management — AMRs, UR3 mobile manipulators, Open-RMF fleet coordination, MoveIt 2, Nav2, and SmolVLA AI inference

    Python 1