Pranay Mathur

I am an M.S. Robotics graduate from Georgia Tech and currently work as an engineer in the computer vision team at MathWorks. At Georgia Tech, I worked in the Robot Learning and Reasoning Lab advised by Dr. Danfei Xu. I completed my undergraduate degree at BITS Pilani where I majored in Electronics and Instrumentation and was the recipient of the Innovator of the Year Award and the Prof. Suresh Ramaswamy Memorial Award. As part of my undergraduate thesis at the Autonomous Robots Lab I developed a Resource-Aware algorithm for deployment of Visual Inertial Odometry algorithms on aerial vehicles with computationally constrained onboard systems advised by Prof. Kostas Alexis.

I worked as an open-source developer on the project Landmark Mapping using Quantized EfficeintDet on Edge TPUs as part of the Google Summer of Code '22 program. Previously, I spent time at MathWorks, Addverb Technologies and KPIT working on developing software for robots and self-driving cars.

I am an avid aviation enthusiast and love building and flying quadcopters. Apart from aviation, I love reading, running, playing football, amateur photography and sketching.

Feel free to check out my CV and drop me an e-mail if you want to chat with me!

[Jan'24]	Graduate Teaching Assistant for CS 4644/7643: Deep-Learning
[Oct'23]	Best Paper Award at IROS '23 - Geriatronics Workshop!
[Oct'23]	Presented Lightning Talk at ROSCon '23 as a ROSCon Diversity Scholar!
[May'23]	Summer Internship at MathWorks
[Jan'23]	Graduate Teaching Assistant for CS 6476: Introduction to Computer Vision
[Aug'22]	MS in Robotics at Georgia Tech! Graduate Teaching Assistant for CS 4470/6456: User Interface Software
[Jun'22]	Proposal accepted to Google Summer of Code!
[Aug'20]	Started working with Addverb Technologies in the perception division
[Sept'21]	Best Paper Award at IEEE IRIA'21
[Jul'20]	Completed undergraduate thesis at Autonomous Robots Lab advised by Prof. Kostas Alexis
[May'20]	Interned at KPIT on Deep-Learning based multi-modal sensor fusion
[May'19]	Completed Research Internship at CSIR-CEERI Pilani

	EgoMimic: Scaling Imitation Learning via Egocentric Video [Paper] [Website] Simar Kareer, Dhruv Patel, Ryan Punamiya, Pranay Mathur, Shuo Cheng, Chen Wang, Judy Hoffman, Danfei Xu X-Embodiment Workshop, Conference on Robot Learning (CoRL)* 2024
	Neural Visibility Field for Uncertainty-Driven Active Mapping [Paper] [Website] Shangjie Xue, Jesse Dill, Pranay Mathur, Frank Dellaert, Panagiotis Tsiotras, Danfei Xu IEEE / CVF Computer Vision and Pattern Recognition Conference (CVPR) 2024
	Proactive Human-Robot Interaction using Visuo-Lingual Transformers and Object Interaction Graphs [Paper] [Video] [Poster] [Best Paper Award] Pranay Mathur IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) - Geriatronics AI Workshop 2023
	Sparse Image-based Navigation Architecture to Mitigate the need of precise Localization in Mobile Robots [Paper] Pranay Mathur, Rajesh Kumar, Sarthak Upadhyay, arXiv 2022
	Resource-aware Online Parameter Adaptation for Computationally-constrained Visual-Inertial Navigation Systems [Paper] [Video] Pranay Mathur, Nikhil Khedekar, Kostas Alexis, IEEE-RAS International Conference on Advanced Robotics 2021
	A Generalized Kalman Filter Augmented Deep-Learning based Approach for Autonomous Landing in MAVs [Paper] [Code] [Best Paper Award] Pranay Mathur, Yash Jangir, Neena Goveas, IEEE International Symposium of Asian Control Association on Intelligent Robotics and Industrial Automation 2021
	Multi-Sensor Fusion-Based Object Detection Implemented on ROS [Paper] [Code] Pranay Mathur, Ravish Kumar, Rahul Jain, Springer International Conference on Machine Learning and Autonomous Systems 2021
	BCI Controlled Quadcopter using SVM and Recursive LSE Implemented on ROS [Paper] [Code] Kshitij Chhabra, Pranay Mathur, Veeky Baths, IEEE International Conference on Systems, Man and Cybernetics 2020

	Behavior-Cloning: A comparison of MLP, RNN and Diffusion-based policies for LfD [Code] Implemented MLP, RNN and Diffusion policy variants for behavior cloning from diverse demonstration datasets Evaluated the effectiveness of these policies in learning robust policies on 3 datasets of varying difficulty using Robosuite and Robomimic
	EAM: Embodiment Agnostic Long-Horizon Manipulation using Human-Play Data [Report] [Webpage] We propose learning a policy using human-play data - trajectories of humans freely interacting with their environment. To bridge the embodimet gap, we experimented with multiple techniques such as aligning visual representations from DINOV2 + LoRA (Rein), mimimizing auxiliary KL Divergence loss, masking the manipulator, co-training with robot play data
	Object Manipulation using learnt Dynamics Models [CS 8803: Report] [Code] Implemented data-driven approaches for learning dynamics models and predicting future states Used random-shooting with gradient-based trajectory optimization to improve success rate
	Human-Motion Prediction: With great power comes great res-pose-ability [Project Report] [Code] Worked on Convolutional Seq-to-Seq models for human-motion prediction on computationally-constrained systems Achieved comparable performance to several baselines implemented in the fairmotion library at reduced computational costs
	Perception Open3d [ROS World Lightning Talk] [Code] Developed a ROS wrapper for conversion of Open3d pointclouds to ROS pointclouds and vice-versa Released two packages, open3d_conversions and open3d_conversions_examples that are part of ROS-perception
	MAV navigation in visually-degraded GPS denied environments using RTAB-Map SLAM [Code] Developed an algorithm for autonomous navigation of RGBD camera equipped MAVs in GPS-denied environments using RTAB-Map V-SLAM Developed custom computer vision algorithms using CNN based attention maps for obstacle recognition and avoidance implemented in Tensorflow and OpenCV Selected for funding by the EEE Dept. and Sandbox Fabrication Lab, BITS Goa
	Project Kratos - Mars Rover [Website] Contributed in building a Mars Rover that ranked 10 th of 25 teams in the Indian Rover Challenge Lead the communication sub-system and implemented a scheduling algorithm to transmit multiple camera and data feeds with minimal latency Set up Communication Networks using the Ubiquiti Networks Platform and automated processes using BASH scripting in Linux

	Engineering Development Group Engineer \| MathWorks June '24 - present Working with the Image Processing and Computer-Vision team on importing deep-learning models.
	Engineering Development Group Intern \| MathWorks May '23 - Aug' 23 Worked on feature enhancements in the Simulink Test Toolbox for the 2024a release Resolved performance issues in C++ and MATLAB back-end in pre-existing features
	Open-Source Developer \| Google Summer of Code June '22 - Sept'22 Used OpenCV and EfficientDet to identify a track for an autonomous vehicle to follow [Project] [GitHub] [Video] Quantize and port model to TFlite for inference on Coral USB Accelerator
	Graduate Engineer Trainee \| Addverb Technologies August '21 - July '22 Worked on appearance-based Navigation of ground-based robots using semantic-scene understanding Integrated autonomous mobile-robots with 5G cloud-control based capabilities Deployed localization scoring and recovery method for augmenting LiDAR based SLAM in mobile robots
	Intern \| Technoyantra January '21 - August '21 Developed a localization algorithm using EKF based fusion of pose estimates from fiducial tags and LIDAR based SLAM [GitHub] Implemented pipelines in ROS2 for Point Cloud segmentation, statistical outlier removal and voxel filtering
	Undergraduate Researcher \| Autonomous Robots Lab July '20 - January '21 Developed a generalizable Resource-Aware algorithm for deployment of Visual Inertial Odometry algorithms on aerial vehicles with computationally constrained onboard systems under the guidance of Prof. Kostas Alexis [Video] [Paper] Contributed to Intel ISL Open3D and released two packages incorporated into ROS-perception. Presented the packages as a Lightning Talk at ROS-World 2020. [GitHub] [Video]
	Technical Intern \| KPIT May '20 - July '20 Worked on Object Detection based on multi-modal sensor fusion using 3D LIDAR, monocular camera and a RADAR [Paper] Developed a novel algorithm for detection of vehicles and pedestrians implemented using tensorflow and ROS [GitHub]
	Research Intern \| CSIR-Central Electronics Engineering Research Institute May '19 - July '19 Implemented RTAB-Map SLAM for Autonomous Navigation of Quadcopters using PX4 and ROS in visually-degraded GPS denied environments using an RGBD camera Implemented multi-modal sensor fusion and image noise-removal through classical image processing pipelines under the guidance of Dr. S. A. Akbar, Chief Scientist CEERI Pilani, India
	Research Assistant \| BITS Pilani Aug '19 - Dec '19 Worked with Prof Neena Goveas on a supervised approach for MAV landing using EKFs. Published in IEEE IRIA 2021 and received the Best Paper Award. Developed a SVM based EEG classification approach to control a quadcopter for 3D reconstruction and exploration advised by Prof Veeky Baths. Published in IEEE SMC 2020.

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