"पीटर राज को पढ़ाता है ।"
Translation:Peter teaches Raj.
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पढ़ाता(Padhaata) doesn't mean "reads". It specifically means "to teach". Padh is the root form which can mean reading as well as learning/studying. But Padhaana specifically means to teach.
If you want to say - "Peter reads to Raj", it could be translated as "Peter Raj ko padh kar sunaata hai".