PWM: Policy Learning with Large World Models
Ignat Georgiev, Varun Giridhar, Nicklas Hansen, Animesh Garg
Hey! I'm Ignat, a Robot Learning researcher. I am currently doing a PhD at Georgia Tech, working with Animesh Garg. My deeply seeded belief is that robotics and learning have the potential to change the world for the better, and my mission is to bring intelligent star-wars-like robots one step closer to reality (minus the blasters).
Prior used to work as an ML engineer/researcher in autonomous vehicles. Nowadays I occasionally do some consulting or contracting work on projects I find interesting. Shoot me an email if you have something in mind!
This little website is my space to tell the world about me, put my resume out there, show off my research and blog some wisdom. You can find all of my research on Google Scholar.
Selected Research
Actor-Critic for Policy Learning in Contact-Rich Differentiable Simulation
Ignat Georgiev, Krishnan Srinivasan, Jie Xu, Eric Heiden, Animesh Garg
Iterative Semi-parametric Dynamics Model Learning For Autonomous Racing
Ignat Georgiev, Christoforos Chatzikomis, Timo Völkl, Joshua Smith, Michael Mistry
Blog posts
Dissertation submitted
Reaching the end of my Master's I have finally submitted my dissertation of which I am extremely proud!
After a long year, I am happy to share that I have finished my Master’s dissertation titled Adaptive Motion Control for Autonomous Racing. I managed to create a 2-stage system consisting of trajectory optimization and tracking, both of which share the same model and adapt to dynamical changes online. The...
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My journey into FPV
I have recently gotten into the world of FPV drone racing. It's a passionate hobby of mine which combines many of my interests and I'd like to share my journey
One day last summer while I was having an internship at Roborace, a colleague of mine turned up to work with a very dodgy looking contraption strapped to his backpack. It had bare circuit boards, exposed wires and looked like an electronics project I would have had in high school....
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Debugging ROS
A guide on how to do real-time CPP debugging in ROS using the CLion IDE
Throughout my time in robotics, I have noticed that not many people use debuggers when developing C++ for ROS. Reasons vary from “debuggers are useless when you run real robots” to “there are no good tools for that”.
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Python courses
Python courses I have developed for beginners in coding and data science
Once I worked as a Digital Skills tutor at the University of Edinburgh I have developed a series of Python courses aimed to teach both general-purpose and research-orientated programming skills. These were intended to introduce beginners to the world of coding easily and safely. As a result of the start...
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First post!
About 2 years ago something sparked up in my head and said: “Wouldn’t it be cool to start a blog”. Since then I’ve debated in my head with questions like “Do I even have enough time for this?”, “What would this blog even be about?” and “What’s the whole point...
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