Robotics PhD Candidate
School of Interactive Computing
Georgia Institute of Technology
Email varunagrawal @ gatech.edu
School of Interactive Computing
Georgia Institute of Technology
Email varunagrawal @ gatech.edu
I am a Robotics PhD candidate in the School of Interactive Computing at Georgia Tech, where I am gratefully advised by Prof. Frank Dellaert.
My areas of research are Robotics, Perception, and Autonomy. I am particularly interested in mobile robot autonomy and the mathematical tools and techniques to enable this.
Currently, I am focused on proprioceptive state estimation of legged robots using concepts from machine learning and nonlinear control. Robot dynamics are intuitive constraints since they obey nature's laws, thus being able to model the observable and the latent processes underlying legged locomotion, we can extract useful information about the robot's state without the need for exterioceptive sensors such as cameras.
I am also a maintainer of GTSAM, an industrial-strength factor graph library for robotics, as well as its sister projects (e.g. GTDynamics).
My areas of research are Robotics, Perception, and Autonomy. I am particularly interested in mobile robot autonomy and the mathematical tools and techniques to enable this.
Currently, I am focused on proprioceptive state estimation of legged robots using concepts from machine learning and nonlinear control. Robot dynamics are intuitive constraints since they obey nature's laws, thus being able to model the observable and the latent processes underlying legged locomotion, we can extract useful information about the robot's state without the need for exterioceptive sensors such as cameras.
I am also a maintainer of GTSAM, an industrial-strength factor graph library for robotics, as well as its sister projects (e.g. GTDynamics).
Office - 1332, Klaus Advanced Computing Building
Latest Updates
- Our paper on a new state estimation metric has been accepted to ICRA 2024.
- 2 papers accepted to ICRA 2023!
- Paper on Legged Robot State Estimation accepted to Humanoids 2022.
- Spending summer 2021 working with Hayk Martiros and the awesome team at Skydio as an autonomy research intern.
- Our paper "Continuous-time State & Dynamics Estimation using a Pseudo-Spectral Parameterization" has been accepted to ICRA 2021.
- Spending the summer at the Institute for Human Machine Cognition, Pensacola, working on humanoids.
- I passed my PhD Qualifying Exam. My areas were Perception and Robotics with my committe being Frank, Judy Hoffman, Seth Hutchinson, and Greg Turk.
Teaching
- OMSCS 6475 Computational Photography, TA with Prof. Irfan Essa
- CS 4476/6476 Fall 2017 Computer Vision, TA with Prof. James Hays
- CS 4476/6476 Fall 2016 Computer Vision, TA with Prof. James Hays