This blog is a collection of my notes based on the MIT lecture series: Introduction to Flow Matching and Diffusion Models. Flow and Diffusion Models Flow Models Ordinary Differential Equations ...
Memory Management in C++
A Complete Guide to Memory Management in C++ Introduction: The Power and Responsibility of C++ As C++ creator Bjarne Stroustrup once said, “C makes it easy to shoot yourself in the foot; C++ make...
Case Studies of Planning and Decision-Making in Robotics
In progress Autonomous Driving Mobile Manipulators Legged Robots Coverage, Mapping, and Surveyal Frontier-based Planning A frontier is any region that lies at the boundary between explored sp...
All About Search Algorithms
In progress TO-DO: Refine RRT, RRT-Connect, RRT* POMDP Multi-robot planning Graph Search Problem Once a robot converts the environment into a discrete representation, whether by grid de...
Language-Conditioned BEV Perception for Autonomous Driving
Language-Conditioned BEV Perception for Autonomous Driving Your browser does not support PDFs. Please download the report here.
Accelerating Search-Based Planning for Multi-Robot Manipulation by Leveraging Online-Generated Experiences
Techincal Report Your browser does not support PDFs. Please download the report here. Results xECBS Scene 1 Scene 2 Scene 3 Scene 4 ECBS Scene 1 Scene 2 Scene 3 Sc...
Deep Learning - Attention & Transformers
Attention Models Problem with vanilla Seq2Seq Models In the vanilla sequence-to-sequence (Seq2Seq) model with an encoder–decoder setup: The encoder reads the entire input sequence (e.g., I ...
Visual Learning and Recognition
Language-Conditioned BEV Perception for Autonomous Driving Your browser does not support PDFs. Please download the report here.
Planning and Decision Making
In progress Blog These are my notes as part of the 16-782 Planning and Decision-making in Robotics class taken by Dr. Maxim Likhachev. Basics and Sampling-Based Motion Planning All About Se...