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Pranav Jadhav

Publications and source records attributed to Pranav Jadhav.

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Cohort Retrieval using Dense Passage Retrieval

Patient cohort retrieval is a pivotal task in medical research and clinical practice, enabling the identification of specific patient groups from extensive electronic health records (EHRs). In this work, we address the challenge of cohort retrieval in the echocardiography domain by applying Dense Passage Retrieval (DPR), a prominent methodology in semantic search. We propose a systematic approach to transform an echocardiographic EHR dataset of unstructured nature into a Query-Passage dataset, framing the problem as a Cohort Retrieval task. Additionally, we design and implement evaluation metrics inspired by real-world clinical scenarios to rigorously test the models across diverse retrieval tasks. Furthermore, we present a custom-trained DPR embedding model that demonstrates superior performance compared to traditional and off-the-shelf SOTA methods.To our knowledge, this is the first work to apply DPR for patient cohort retrieval in the echocardiography domain, establishing a framework that can be adapted to other medical domains.

cs.IR

pRRTC: GPU-Parallel RRT-Connect for Fast, Consistent, and Low-Cost Motion Planning

Sampling-based motion planning algorithms, like the Rapidly-Exploring Random Tree (RRT) and its widely used variant, RRT-Connect, provide efficient solutions for high-dimensional planning problems faced by real-world robots. However, these methods remain computationally intensive, particularly in complex environments that require many collision checks. To improve performance, recent efforts have explored parallelizing specific components of RRT such as collision checking, or running multiple planners independently. However, little has been done to develop an integrated parallelism approach, co-designed for large-scale parallelism. In this work we present pRRTC, a RRT-Connect based planner co-designed for GPU acceleration across the entire algorithm through parallel expansion and SIMT-optimized collision checking. We evaluate the effectiveness of pRRTC on the MotionBenchMaker dataset using robots with 7, 8, and 14 degrees of freedom (DoF). Compared to the state-of-the-art, pRRTC achieves as much as a 10x speedup on constrained reaching tasks with a 5.4x reduction in standard deviation. pRRTC also achieves a 1.4x reduction in average initial path cost. Finally, we deploy pRRTC on a 14-DoF dual Franka Panda arm setup and demonstrate real-time, collision-free motion planning with dynamic obstacles. We open-source our planner to support the wider community.

cs.RO