Wash rice, urad dal, mung beans, mung dal and toor dal in cold tap water a couple of times. Soak them in water in a large bowl for 2-3 hours.Wash and soak poha in water for 10 minutes, just before you are ready to make the batter.Grind rice, lentils and poha to a smooth paste in a blender, adding a little bit of water as required. Do this in batches if needed. Batter should be thick, but of pouring consistency. Feel the batter between your fingers, some grit like semi-fine sand is okay.Transfer batter to a bowl and set aside. If not using immediately, refrigerate the batter for 1-2 days.Heat oil in a skillet. Add onions, ginger and green chilies and saute on medium heat till onions are translucent. Add carrots and saute for a few more seconds.Add this to the batter along with cilantro and mix well. Season with salt.Heat a 9" or 10" smooth cast iron griddle or dosa/crepe pan on medium heat. Rub a few drops of oil on the pan with a rolled up wad of tissue paper.Pour a ladle full (around ¼ cup) of batter in the center of the pan. Starting at the center, quickly make concentric circles of increasing diameter with the ladle. This will form the dosa shape. Pour a few drops of oil around the edges. Cook for a couple of minutes till bottom is golden brown, then flip and cook on the other side for a minute. Remove to a plate and keep warm while you finish cooking the rest of the batter.Serve adai dosa warm with chutney, sambar or podi. Find recipe links for mint-coconut chutney and tiffin sambar just below this recipe card.