cv

Basics

Name Mrunal Sarvaiya
Label Roboticist and Scientist
Email mrunal.s@nyu.edu
Url https://mrunaljsarvaiya.github.io

Education

Publications

Work

  • 2019.08 - 2023.08

    San Francisco, CA

    Senior Robotics Software Engineer
    Peanut Robotics
    • Developed the motion planning software architecture for a custom mobile manipulator
    • Selected, integrated and tuned a trajectory tracking controller and time optimal trajectory generator (TOPPRA)
    • Designed and implemented a custom navigation planner for hotel hallways that generates human-like and aesthetically pleasing motions
    • Trained a neural network model to estimate manipulator currents used to add trajectory generator torque constraints for enhanced reliability
    • Engineered tools to optimize robot paths by smoothing trajectories and reducing, overall joint-space distance by tweaking input configurations using an optimization program
  • 2018.08 - 2019.05

    Berkeley, CA

    Controls And Software Engineer (M.Eng. Capstone Project)
    Squishy Robotics
    • Implemented and tuned a path planning technique using A-star and MPC for a Tensegrity robot
    • Increased range of communication by 200% by integrating long range radio software
    • Developed software that allowed interchangeable use of different frequency radios
  • 2018.05 - 2018.08

    Palo Alto, CA

    R&D Test Systems Engineering Intern
    Tesla, Inc
    • Created a Python program that automated data logging and was deployed on over 20 workstations replacing hardware worth over $5,000 per dynamometer workstation
    • Increased data accessibility and reduced post processing time by uploading data to a company-wide server which is accessed by a Jenkins pipeline
    • Reduced complexity of non-standard test scripts by integrating python into the existing testing architecture
  • 2017.05 - 2018.03

    Champaign, IL

    Research Assistant
    Advanced Controls Research Laboratory (Dr. Naira Hovakimyan)
    • Developed a genetic algorithm in Matlab to find the best path for multiple drones given time, velocity, acceleration and space constraints
    • Programmed an on-board controller for the motor that increased precision of the manipulator arm by 40% and increased range of motion by 100%
    • Reduced complexity of non-standard test scripts by integrating python into the existing testing architecture
  • 2015.08 - 2018.05

    Champaign, IL

    Team President and Business Team Lead Presenter
    Illini Motorsports (Formula SAE)
    • Managed and allocated a $30,000+ budget for 6 subsystems for a team of 80 students
    • Raised funds by building relationships with 10 corporate sponsors and represented the team at major university outreach events
    • Secured four top 3 finishes as the business team presenter at international university competitions
    • Optimized vehicle intake geometry using GT-Power simulations, increasing engine power output by 2 HP
    • Led a team of 6 students to design and validate a new vehicle radiator and fan

Awards

Skills

Programming
Python
C++
ROS 1/2
Matlab
Docker
PyTorch
Tensorflow
Planning and Controls
Model Predictive Control
Reinforcement Learning
Classical Control Techniques
Trajectory Generation
Trajectory Tracking Controllers
Hobbies
Rock Climbing
Coffee connoisseur
Chef
Guitar
Formula 1 Sim Racer

Languages

English
Native speaker
Hindi
Native speaker
Gujarati
Fluent