Research
My research utilizes a mixture of computer vision and robotics approaches to try and make robots more useful in the real world. Currently I am interested in how robots can learn from a very small number of demonstrations. In the long term I am interested in using these techniques to learn from online videos of humans. These learned skills can then be combined for long term planning.
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ARDuP: Active Region Video Diffusion for Universal Policies
Shuaiyi Huang,
Mara Levy,
Zhenyu Jiang,
Anima Anandkumar,
Yuke Zhua,
Linxi Fan,
De-An Huang,
Abhinav Shrivastava
Under Submission
A novel method for learning complex goal-conditioned robotics tasks from a single demonstration, using unique reward function and knowledge expansion.
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WayEx: Waypoint Exploration using a Single demonstration
Mara Levy,
Nirat Saini,
Abhinav Shrivastava
IEEE International Conference on Robotics and Automation (ICRA), 2024
A novel method for learning complex goal-conditioned robotics tasks from a single demonstration, using unique reward function and knowledge expansion.
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V-VIPE: Variational View Invariant Pose Embedding
Mara Levy,
Abhinav Shrivastava
Conference on Computer Vision and Pattern Recognition (CVPR) RHOBIN Workshop, 2024
A method for projecting poses into an embedding space that is view invariant. This means the same pose shot from different camera angles should have an equal embedding.
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Coarse-to-Fine Human Mesh Recovery with Transformers
Vatsal Agarwal,
Mara Levy,
Max Ehrlich,
Youbao Tang,
Ning Zhang,
Abhinav Shrivastava
Under Submission
Build efficient Transformer design for non-parametric human mesh recovery with coarse-to-fine pipeline.
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No-frills Dynamic Planning using Static Planners
Mara Levy,
Vasista Ayyagari,
Abhinav Shrivastava
IEEE International Conference on Robotics and Automation (ICRA), 2021
A planning algorithm that helps reinforcement learning algorithms that can typically only solve tasks for static objects solve the same task, but with a dynamic object.
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