Gautham Narayan Narasimhan
Hello! I am currently a senior perception engineer at Aeva working on developing
machine learning products for lidar data. Previously, I worked as a computer vision research engineer
at Path Robotics to build the perception stack for autonomous robotic welding.
In another life I was a research assistant at the Robotics Institute (RI) at Carnegie Mellon
University where I completed my masters thesis with
Prof. David Held at CMU.
I study machine learning algorithms that enable robots to perceive and interact with the real world.
Contact: gauthamnarayn (at) gmail.com
Resume  / 
GitHub  / 
Google Scholar
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LinkedIn
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Invited Talks
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July 2022 : Intel Embodied AI Lab - Transparent Liquid Image
Segmentation For Robotic Pouring
[Slides]
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Research and Publications
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Learning Material Properties using a Differentiable Simulator for Liquid/Granular
manipulation
Gautham Narayan, Xingyu Lin, David Held
In progress
Currently training a Material Point Method based differentiable
simulator to learn material properties. Cross Entropy Method has shown
good performance for trajectory optimization once the material properties have been learnt.
More details coming soon ...
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Self-supervised Transparent Liquid Segmentation for Robotic Pouring
Gautham Narayan, Kai Zhang, Ben Eisner, Xingyu Lin, David Held
ICRA 2022 and abridged at NeurIPS 2021 Deep
Generative
Models Workshop
A novel segmentation pipeline that can segment transparent
liquids
such
as water from a static,
RGB image without requiring any manual annotations. We show that this system can run in
real-time
and aid in tasks such
as robotic pouring.
[Paper]
[Website]
[Code]
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ROLL: Visual Self-Supervised Reinforcement Learning with Object Reasoning
Yufei Wang*, Gautham Narayan*, Xingyu Lin, Brian Okorn, David Held
* denotes equal contribution
Conference on Robot
Learning,
CoRL
2020
Unknown object segmentation to learn a visual representation
that
can
reason about occlusions. Our method achieves
state of the art on object manipulation benchmarking tasks.
[Paper]
[Website]
[Code]
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Segmentation for learning image based goal conditioned policies
Gautham Narayan, David Held
Master's Thesis - Carnegie Mellon University, 2020
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Experimental Droplet Spatter Analysis Using Least Squares Approximation
Gautham Narayan, Bill Eddy
Internal Report - NIST Center of Excellence in Forensic Science, 2020
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Effect of winglets induced tip vortex structure on the performance of subsonic
wings
Gautham Narayan, Bibin John
Elsevier - Aerospace Science and Technology, 2016
Design optimization for subsonic winglets using computational fluid dynamics.
[Paper]
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