Kallol Saha

I am an MSR student at The Robotics Institute, CMU. I am fortunate to be advised by Prof. David Held and Prof. Maxim Likhachev. Previously, I was a Research Associate at the Robotics Research Center (RRC), IIIT Hyderabad advised by Prof. Madhava Krishna. Prior to that, I was a research intern at IIT Bombay. Apart from research, I have participated in international robotics competitions during my Bachelors at Manipal Institute of Technology

My research interest revolves around the robot learning problem. My goal is to create generalist agents that learn from prior experience and adapt to new tasks without task-specific training data. Humans effortlessly do tasks like pouring tea, cooking dinner, or folding clothes. I foresee an "ideal robotic system" to not only mimic humans in complex real world tasks, but out-perform them.

Email: ksaha@cs.cmu.edu

Highlights

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Timeline

[ 13-18 May 2024 ] I will be attending ICRA 2024 in person
[ Feb 2024 ] I am accepted to the CMU MSR program and will be joining the same!
[ Jan 2024 ] Our latest work EDMP was accepted to ICRA 2024!
[ Aug 2023 ] Graduated from Manipal Institute of Technology with a B-Tech in Mechatronics
[ Jun 2023 ] I will be presenting lectures on Robot Kinematics and Deep Learning at the RRC Summer School
[ Jun 2023 ] "Disentangling Planning and Control for Non-prehensile Tabletop Manipulation" accepted at CASE 2023!
[ Jan 2023 ] Joined the Robotics Research Center (RRC), IIIT Hyderabad as a Research Associate under Prof. Madhava Krishna
[ Jun 2022 ] Started my summer research internship at e-Yantra, IIT Bombay
[ Apr 2022 ] Our team won first prize at the e-Yantra Robotics Competition, IIT Bombay!
[ Jun 2021 ] Started a remote research internship at IIT Guwahati
[ May 2021 ] Elected as Team Manager of Project Manas
[ Feb 2020 ] Recruited as a Mechanics Member at Project Manas

Publications

(* Denotes equal contribution. Click on publication to view more)

EDMP: Ensemble-of-costs-guided Diffusion for Motion Planning

Kallol Saha*, Vishal Mandadi*, Jayaram Reddy*, Ajit Srikanth, Aditya Agarwal, Bipasha Sen,
Arun Singh, Madhava Krishna
ICRA 2024
Webpage • Paper • Video • Code

Disentangling Planning and Control for Non-prehensile Tabletop Manipulation

Vishal Mandadi, Kallol Saha, Dipanwita Guhathakurta, M. Nomaan Qureshi, Aditya Agarwal, Bipasha Sen,
Dipanjan Das, Brojeshwar Bhowmick, Arun Singh, Madhava Krishna
CASE 2023
Paper • Video

Projects

(Click on project to view more)

Major Projects

Decision Making for Swarm Robots

Aditya Singhal, Kallol Saha, Rikin Ramachandran, Umesh Mane, Soofiyan Atar, Harmanjeet Singh Bilkhu
Done during the e-Yantra Summer Internship Program 2022, CSE Department, IIT Bombay
Video • Certificate

Dairy Bike

Kallol Saha (Team lead), Ashwin Disa, Srujan Kulkarni, Tanaya Gupte
First Prize Winner, e-Yantra Robotics Competition 2021-22, CSE Department, IIT Bombay
Video • Competition Video • Certificate

Project Manas

I am an alumni of the 2020-22 batch. Meet the current team here.
A Student Project on AI and Robotics at Manipal Institute of Technology
Webpage • Projects • More Pictures • Rise Prize Certificate • IPAS 2021 Certificate

Nirikshak Bot

Kallol Saha (Team lead), Shubham Shetty, Tanaya Gupte, Twinkle Goyal
e-Yantra Robotics Competition 2020-21, CSE Department, IIT Bombay
Video • Code • Certificate

Mini Projects

Micromouse Navigation

Sadha Sivam M, Kallol Saha, Basireddy Sandeep Reddy
Done during a research internship at IIT Guwahati, 2021
Code • Certificate

Gesture Controlled Rover

Kallol Saha (Team lead), Shubham Shetty, Anirudh Bharadwaj, Manu Vishwanath, Ayan Verma, Aloysius De Sa
Robotics Lab Final Project, 2022
Report • Video • Code

Teaching

I taught two lectures at the RRC Summer School 2023. The first lecture delved into the topics of Robot Kinematics and Quaternions, while the second focused on Deep Learning. The lecture on deep learning is available here.
I served as a teaching assistant for the robotics laboratory course at Manipal Institute of Technology, where my responsibilities included
mentoring students in ROS programming and sim2real transfer. Here is the certificate.
During my tenure at Project Manas, I mentored junior team members in tasks related to mechanics, design and programming. Additionally, I conducted interviews to assess potential candidates interested in joining the team.