List of Ongoing Projects

• RA Project - MART  (ICRA - Sep 2024)

• Autonomous Navigation for Non-Holonomic Vehicles Using HJB-PDE Value Estimates (T-RO - June 2024)

• Extend AAMAS Paper to have Position Uncertainty (AAMAS - July 2024)

• MAPF with Edge Bundles (AAMAS - Oct 2024)

• Close Proximity Human-Robot Interaction (HRI - Oct 2024)

• Continuous Action Space BeliefMDPs Tree Search with Value Gradients (ICAPS - November 2024)

• Social Navigation Baselines (TBD)

All Active Projects

Extended Space POMDP for Non-Holonomic Vehicles Using HJB

• Autonomous Navigation for non holonomic vehicles among moving humans

STATUS:

• Have results
  • ​Will probably rerun them
• ​Need to run the hardware experiment again
• Waiting for the correct venue
• Complete System Pipeline?

• What did Brad say?
  • Don't worry about the venue. SUBMIT IT ASAP!
  • The complete pipeline with vision stuff is unnecessary!

Extended Space POMDP for Holonomic Vehicles Using PRM and FMM with state uncertainty

• This is the long-due JAAMAS paper
  • Easy Journal Publication?
  • Solve the same problem as before but with position uncertainty now!
  • Over New Environments
  • Better Human Simulation Model

• What did Brad say?
  • Yeah, do it if you have the time!
  • Just introducing position uncertainty should be enough!

Social Navigation Baselines

• Discussion with Nathan (Yale) and Allan (CMU)
• Compare Tree Search based methods with learning methods
• Usefulness?
• Necessity?
• Submit to their workshop

• What did Brad say?
  • (Still in the AIR)
  • Further discussion is needed
  • He doesn't think there is a lot of value in it. What do you benefit from this?

• Learn Policies for solving POMDPs
  • What happens if your belief is PF?
  • Using MGF Encoding for POMDP-RL (With Jackson)
  • Use MGF Encoding for RL in MOMDPs for Target Localization  (With Brendon)

Continuous Action Space POMDPs

• Improve Tree Search
  • Ideal for 4 page ICAPS paper
  • ​BeliefMCTS - VG for Continuous Action Space BeliefMDPs
  • MCTS - VG like approach for Continuous Action Space POMDPs

• What did Brad say?
  • He said you have 3 and a half papers from this!
  • He supported submitting to ICML

Close Proximity HRI Tasks

• First ever project with you in AHRI (Sp 2020)
• Current SOTA - Human and Robot take turns
• Better Approach - Do it simultaneously
  • AND ALSO ADAPT (More Complicated)
• ​​But HOW?
  • Discussion with Yi-Shiuan
    • ​Use learnt policies and then do TrajOpt
  • ​Can also do a Tree Search with learnt policies as RollOut.
  • Application Domain? :(

• What did Brad say?
  • He liked the RT-X+TrajOpt idea

MAPF Using Edge Bundles

• Multi Agent Path Finding
  • CBS came in 2012
  • CBS-RRT came out in 2022 (insane)
• Biggest Bottleneck 
  • Low Level Planning is VERY expensive!
    • Use Edge Bundles to speed it up (2022)
• Solution
  • MAPF with edge bundle RRT

• What did Brad say?
  • He liked the idea too. It might not be the most novel thing, but it is still a new idea! 
  • He wants me to generate a plot/image of what each mentioned project will contribute!

Using Stochastic Barriers for Safety in Tree Search

• Safe Tree Search!!

BeliefMCTS - VG for Continuous Action Space BeliefMDPs

• Idea - 

MCTS - VG like approach for Continuous Action Space POMDPs

• Idea - 

Using MGF Encoding for RL in MOMDPs for Target Localization  (With Brendon)

• Idea - 

Social Navigation Workspace Optimization

• Idea - 

Dataset Collection using TeleOp in AR for HRI Tasks

• Idea -