Gautham Narayan Narasimhan
Hello! I am currently a Research Assistant at the Robotics Institute (RI) at Carnegie Mellon University. Previously I completed my masters thesis with
Prof. David Held at CMU.
I study machine learning algorithms that enable robots to perceive and manipulate general purpose objects.
Currently I'm working on model based reinforcement learning for robotic pouring tasks.
Contact: gauthamnarayn (at) gmail.com
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GitHub  / 
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LinkedIn
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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]
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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]
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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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