Pre-Doctoral Fellow, Human-Interactive Robotics Lab, IISc

Jan – Jul 2025

I worked as a Pre-Doctoral Fellow in Learning and Controls from January to July 2025 at the Human-Interactive Robotics Lab, RBCCPS, IISc, under Prof. Ravi Prakash.

My work focused on integrating stability guarantees into variable impedance control within a PIBB-DMP (Policy Improvement with Black-Box optimisation on Dynamic Movement Primitives) setup, so that the robot’s policy learning stays structured and safe during physical interaction.

This work led to the paper Stability-Aware PI² for Safe Interaction via Variable Impedance Control, accepted at the ICRA 2025 Workshop on Structured Learning for Efficient, Reliable, and Transparent Robots.