Projects

Systems across autonomy, machine learning, and backend engineering. Each page covers the problem, what I built, and the decisions behind it.

Completed

moinpalekar.com

This site: a Next.js and TypeScript frontend on Vercel, an Express and MongoDB API on Render, JWT auth, and a Markdown + LaTeX blog engine.

Next.jsTypeScriptExpressMongoDBTailwindJWT
In progress

MOT3D: Real-Time 3D Multi-Object Tracking

C++17 tracking-by-detection on nuScenes: an EKF with a CTRV motion model, hand-written Hungarian association, and official nuScenes tracking metrics.

C++17EKF / CTRVHungariannuScenesROS 2CMakeCI
In progress

TransFuser on NAVSIM

Reproducing an end-to-end driving policy that fuses camera and LiDAR in bird's-eye view, trained on multiple GPUs on ASU's Sol cluster via SLURM.

PyTorchSensor fusionBEVNAVSIMSLURMMulti-GPU
In progress

navstack: Autonomous Robot Navigation

A full navigation stack for a differential-drive robot: EKF localization, occupancy grid mapping, hybrid A* planning and DWA control.

ROS 2Nav2GazeboEKFHybrid A*DWA
In progress

ragserve: Retrieval-Augmented Generation Service

A retrieval + generation service built on FastAPI and pgvector, with ONNX-optimized inference, deployed on Kubernetes.

PythonFastAPIpgvectorONNX RuntimeKubernetes
In progress

taskq: Distributed Job Queue

A distributed job queue in Go, backed by PostgreSQL and Redis and deployed on Kubernetes.

GoPostgreSQLRedisKubernetes