Kaustubh Krishna

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Experiments & archive

Other systems.
Same curiosity.

Work in visual driving, native inference and access infrastructure, alongside the main robotics programme.

Back to flagship work ↗
CARLA / representation transferDemonstrations become control features.
01 / ObserveRGB + additional channels
02 / Imitatevisual features → control heads
03 / Reusecheckpoint feature extractor
04 / Improvevisual features + vehicle state
↖ Supervised imitation → representation reuse → actor–critic
08 / Robot learningPublic repository

Demonstration to interaction.

Visual autonomous driving

  • Built expert-data collection, visual imitation learning and continuous-control training paths.
  • Reused imitation-checkpoint features, fused with vehicle state, inside an actor–critic pipeline.
  • Implemented simulator environments, checkpoint recovery, monitoring and multi-environment training utilities.

Physical golf-cart deployment

Representation transfer / Imitation learningInside the system
Native macOS / local inferenceCapture keeps running while models decode.
01 / CaptureAudioQueue · 20 ms PCM
02 / Separatescreen audio ≠ microphone
03 / Decodebounded workers + GPU gate
04 / Rememberlossless chunks → SQLite
↖ Audio callbacks are separate from inference work
09 / Native systems / local inferencePrivate work

A memory system I can run.

Personal OS

  • Separate AudioQueue dictation and ScreenCaptureKit + microphone meeting paths.
  • 20 ms PCM input, rolling lossless audio, provisional decoding and an independent final pass.
  • Bounded local model workers, GPU request serialization and SQLite-backed personal memory.
Swift / macOS / Audio systemsInside the system
Private compute / session lifecycleHost presence is not session authority.
01 / Registerhost identity + heartbeat
02 / Inviteexpiring access
03 / Connectauthorised streaming session
04 / Revokeexpiry + audit
↖ Host registration, presence and invitation state
10 / Infrastructure experimentPrivate work

Access with an expiry.

Private compute workspaces

  • Host registration, heartbeat metrics and time-limited browser invite sessions.
  • Explicit session revocation with a readable event audit trail.
  • Policy wrapper around existing streaming endpoints, with file transfer denied by default.
Session lifecycle / Access controlInside the system