lesh

@vai_viswanathan these are good benchmarks sir

@lesh_bla overfitting to the benchmarks

Really great usecase for autoresearch I've found is writing a basic nav algo (loop closure, relocalization) establishing ground truth for scoring (apriltags in this case) then autoresearching until score is perfect

@alokbishoyi97 actually yes this looks good, I'll try it out tnx

@lesh_bla would you be interested in trying out something i have opensourced ? does a bit more than the linear hillclimbing loop that autoresearch does check it out and lmk ! github.com/evo-hq/evo

@_asadmemon o3d icp + gtsam

@lesh_bla Neat. What algo

Large global map loop closure and relocalization tests on stock go2 webrtc

it was optimizing on short recordings in which robot is getting physically thrown around, so it's very aggressive on associating keyframes

hand crafted vs autoresearched

@aphex no, this is on go2 robot, it does have an IMU, I found camera odom unreliable for irl deployments, this algo runs realtime

@lesh_bla oh lmao so this is with pure camera odom, amazing

@alokbishoyi97 just program.md and claude, I add a /loop in case it gives up

@lesh_bla super cool ! how do you run your autoresearch loops ?

@aphex actually JUST go2 webrtc connection, didn't expect to end up pushing it so far, so no fastlio2 but yeah for better lidars will be switching to fastlio2 and pipeline stays the same calibrating ground truth for closure validation

@lesh_bla hell yeah. FASTLIO2 + PGO?

Added battery measurement on the fly

Walked the robot around the office, asked Claude to add front light control functionality (was dark in the office) it read go2 SDK docs via deepwiki, implemented it, hot-reloaded connection,py, global map preserved, robot light is on

Working on robot memory, every sensor frame is stored and indexed forever, some visualizations of example (realtime) queries

@prestonjbyrne Wtf are you talking about with capitulating to Europeans?

Capitulating to the Europeans.

@taylor_sntx leshy.github.io/sunsim/ did a similar thing for a plot via a drone photogrametry scan + sat heightmap data

added a sunlight simulator to visualize sun and shadow patters on real terrain

livox mid360 is nuts, weights 250g, uses 6.5W, costs 500 Eur in China, this is not some carefully constructed map, but a result of a few seconds of runtime. I guess everyone already knows this but me