Dvij Kalaria

Final-Year Graduate

Robotics Institute, Carnegie Mellon University (CMU)

Biography

Hi! I am Dvij Kalaria, a final-year Masters of Science in Robotics (MSR) student at the Robotics Institute, Carnegie Mellon University advised by Dr. John Dolan and Dr. Qin Lin. I am interested in Agile robots, Embodied AI, Reinforcement Learning (RL), Adaptive control, Computer Vision especially in the domain of mobile robots. Currently, I am working on using RL for offroad driving on uneven terrain on a custom-built simulator. Apart from this, I am an active part as the vehicle dynamics lead of AIRacingTech for Indy Autonomous Challenge (IAC).

Download my resume / CV (elaborate).

Interests

Agile robots
Embodied AI
Reinforcement Learning
Adaptive Control
Computer Vision

Education

B.Tech in Computer Science, 2018-2022

Indian Institute of Technology Kharagpur
Masters of Science in Robotics (MSR), 2022-2024

Robotics Institute, Carnegie Mellon University

Experience

CMU AV Center for research

Research assistant

Jul 2021 – Present Carnegie Mellon University (CMU),

AIRacingTech

Student researcher (Vehicle Dynamics team lead)

Aug 2022 – Present University of California Berkeley (UCB),

Indy Autonomous Challenge (IAC)

Pratt Miller

Research intern

May 2023 – Aug 2023 Huntersville, North Carolina,

Oracle Cloude Infrastructure (OCI)

Deep Learning Intern

Apr 2021 – Jun 2021 Bangalore, India

PreImage

Deep Learning Intern (Part-time)

Jan 2021 – Apr 2021 Bangalore, India

IUPUI-IITKGP-USB team

Motion planning and controls team leader

Jul 2020 – Feb 2021 Indianapolis

Indy Autonomous Challenge (IAC)

Autonomous Ground Vehicle Lab (AGV)

AI team member

May 2019 – Jun 2022 IIT Kharagpur

Computer Graphics Society

Game Developer

Jan 2019 – Jun 2019 IIT Kharagpur

Publications

Delay-aware Robust Control for Safe Autonomous Driving and Racing

Delays endanger safety of autonomous systems operating in a rapidly changing environment, such as nondeterministic surrounding traffic …

Dvij Kalaria, Qin Lin, John M. Dolan, -*Transactions on Intelligent Transportation Systems (T-ITS)*

Delay-aware Robust Control for Safe Autonomous Driving and Racing

Towards Optimal Head-to-Head Autonomous Racing with Curriculum Reinforcement Learning

Autonomous head-to-head racing presents a formidable challenge, demanding vehicles to operate at the limits of friction and handling in …

Dvij Kalaria, Qin Lin, John Dolan, -Presented at MADGames workshop, IROS 2023 and under review, RLC 2024

Towards Optimal Head-to-Head Autonomous Racing with Curriculum Reinforcement Learning

Adaptive Planning and Control with Time-Varying Tire Models for Autonomous Racing Using Extreme Learning Machine

Autonomous racing is a challenging problem, as the vehicle needs to operate at the friction or handling limits in order to achieve …

Dvij Kalaria, Qin Lin, John M Dolan, -Accepted, ICRA 2024

Adaptive Planning and Control with Time-Varying Tire Models for Autonomous Racing Using Extreme Learning Machine

Delay-aware Robust Control for Safe Autonomous Driving

With the advancement of affordable self-driving vehicles using complicated nonlinear optimization but limited computation resources, …

Dvij Kalaria, Qin Lin, John M. Dolan, -Accepted at *IEEE Intelligent Vehicles Symposium 2022 (oral)*

Delay-aware Robust Control for Safe Autonomous Driving

Detecting Adversaries, yet Faltering to Noise? Leveraging Conditional Variational AutoEncoders for Adversary Detection in the Presence of Noisy Images

With the rapid advancement and increased use of deep learning models in image identification, security becomes a major concern to their …

Dvij Kalaria, Aritra Hazra, Partha Pratim Chakrabarti, -Accepted at 'Workshop on Adversarial Machine Learning and Beyond, AAAI 2022'

Detecting Adversaries, yet Faltering to Noise? Leveraging Conditional Variational AutoEncoders for Adversary Detection in the Presence of Noisy Images

Online Adaptive Compensation for Model Uncertainty Using Extreme Learning Machine-based Control Barrier Functions

A control barrier functions-based quadratic programming (CBF-QP) method has emerged as a controller synthesis tool to assure safety of …

Dvij Kalaria, Qin Lin, John Dolan, -IROS 2022

Online Adaptive Compensation for Model Uncertainty Using Extreme Learning Machine-based Control Barrier Functions

Towards Adversarial Purification using Denoising AutoEncoders

With the rapid advancement and increased use of deep learning models in image identification, security becomes a major concern to their …

Dvij Kalaria, Aritra Hazra, Partha Pratim Chakrabarti, -Accepted at 'MLSW workshop, NeurIPS 2022'

Towards Adversarial Purification using Denoising AutoEncoders

Towards Safety Assured End-to-End Vision-Based Control for Autonomous Racing

Autonomous car racing is a challenging task, as it requires precise applications of control while the vehicle is operating at cornering …

Dvij Kalaria, Qin Lin, John M. Dolan, -IFAC World Congress 2023

Towards Safety Assured End-to-End Vision-Based Control for Autonomous Racing

Local NMPC on Global Optimised Path for Autonomous Racing

The paper presents a strategy for the control of an autonomous racing car on a pre-mapped track. Using a dynamic model of the vehicle, …

Dvij Kalaria, Parv Maheshwari, Animesh Jha, Arnesh Kumar Issar, Debashish Chakravarty, Sohel Anwar, Andres Tovar, -Accepted at 'Opportunities and Challenges in Autonomous Racing' worskshop, ICRA 2021