Extension of Actor-Critic-Identifier Architecture for Differential Games
For our project in CSE591 Coordination of Multi-Robot Systems at ASU, Chaitanya Rajasekhar and I implemented the
Actor-Critic-Identifier approach from a series of excellent papers in the field of Differential Games,
and we extended the results from those papers to add noise and use an alternate projection operator.
Our final report can be found here.
Our final presentation can be found here.
Face-Detecting Turtlebot Controller
As part of our final project for CSE591 Perception in Robotics at ASU, my team programmed a TurtleBot to detect and track a human face, and then follow the face as it moved dynamically around a room. Our final report can be found here. A video showing the TurtleBot in action can be found here.
Collision Prediction using V-REP Simulator
I created a controllable vehicle and several simulated collision scenarios in the V-REP robot simulator. The scenarios were used to create a rudimentary dataset consisting of collisions and near-misses, which was then used to train a convolutional neural network (CNN) built using keras and tensorflow. This network was the basis for the Deep Predictive Model discussed in my ICRA 2018 paper.
Generative Adversarial Networks for producing 3D Point Clouds of Vehicles
I collaborated with Dianne Hansford at ASU on an independent study project involving Generative Adversarial Networks (GANs). This involved hacking some preexisting tensorflow code that used a generative adversarial network to create images of cars, using the Stanford Cars Dataset as input, and then using the created car images to generate 3D point clouds. My final report is here.
Critique of DCGAN
As part of my coursework for CSE691 Optimization, I drafted a critique of Radford et al.'s paper introducing the "DCGAN" network. I used an implementation of DCGAN to create the car images for the above independent study. My critique for CSE691 is here and my final project presentation is here.
Locomotion Studies with robotic scorpion
I assembled a robotic scorpion using the Robotis Bioloid Premium kit, and I wrote some code to make it move around. The purpose was mainly demonstration, to persuade Professor Heni Ben Amor that he should allow me to join his Interactive Robotics Lab at ASU. A video I made showing various modes of locomotion is here.