Adithya V. Sastry Robotics + Origami Creator of Tin Can Linux Research Science Institute Lover of all things tiny "A dream is not that which you see while sleeping, it is that which does not let you sleep." -- Dr. APJ Abdul Kalam
Sparsification of Dynamic Graphs in Robotic Exploration 04/2024 - present This work presents a transformer-based framework which uses reinforcement learning to prune dynamic graphs used by robotic exploration algorithms, with the goal of enabling efficient exploration while slowing the buildup of redundant information typical of graph-based robotic exploration methods. The work builds off my last project, in which I designed an RRT-based robotic exploration algorithm that enables a simulated robot to explore an unknown environment through a frontier-based method. The experiments I conducted in this project were based on the algorithm and simulation environment developed for this project. I am currently aiming to publish this research at a top robotics conference through the workshops. A preprint of the paper is available on arXiv, and the code repository and demos can be found on GitHub. <<< Go back