Abhishek Pavani

Robotic Bin Picking

Warehouse-scale each-picking: learned policies, perception and onboard compute.

RoboticsDeep Learning

Robotic Total Knee Replacement

Image guidance and instrument tracking for a surgical robot.

RoboticsComputer Vision

Smart Robotic Cooking

End-to-end system that identifies and dispenses recipe ingredients.

Robotics

Lego Kitting

Colour-based sorting with image moments and hand-eye transforms.

Robotics

Autonomous Cloth Folding with SmolVLA

Bimanual SO-101 arms learning to fold laundry from 50 teleoperated demonstrations.

Physical AIRoboticsDeep Learning

Fixed-Wing UAV for Package Delivery

Aircraft design study and build for payload delivery.

Robotics

e-VTOL UAV with Swappable Payloads

1.5 hours aloft carrying 1 kg, designed and fabricated from scratch.

Robotics

Empathy Towards Robots

A study on anthropomorphism, familiarity and empathy.

Robotics

Structure from Motion

Two-view triangulation through incremental SfM and COLMAP.

Computer Vision

Neural Radiance Fields

Differentiable volume rendering and novel view synthesis.

Computer VisionDeep Learning

Neural Surfaces

Sphere tracing, VolSDF and NeuS, plus neural relighting.

Computer VisionDeep Learning

Epipolar Geometry & 3D Reconstruction

Fundamental matrix estimation, triangulation and bundle adjustment.

Computer Vision

Point Cloud Classification & Segmentation

PointNet for classifying and segmenting 3D point clouds.

Deep LearningComputer Vision

Single View 3D Reconstruction

Vanishing points and perspective-n-point to recover 3D from one image.

Computer Vision

Image Rectification

Affine and metric rectification from lines and points at infinity.

Computer Vision

Camera Pose from Rotation-Dominant Motion

Spherical epipolar geometry, GRIC scoring and rotation averaging.

Computer Vision

Planar Homography

Plane-to-plane warping, used to build a simple AR overlay.

Computer Vision

Photometric Stereo

Recovering albedo and surface normals from varied lighting.

Computer Vision

3D Learning with PyTorch3D

Rendering meshes, point clouds and implicit surfaces.

Deep Learning

Image Registration

SSD, NCC and ZNCC alignment on the Prokudin-Gorskii collection.

Computer Vision

Defect Identification in Wind Turbines

Faster R-CNN detecting nine defect classes from drone imagery.

Deep Learning

Semantic Segmentation of Aerial Imagery

U-Net building masks on 4 cm GSD imagery for map generation.

Deep Learning

Single View 3D Reconstruction with Neural Networks

Comparing voxel, point-cloud and mesh representations.

Deep LearningComputer Vision

Real-Time Controllable Motion Transition

Conditional VAE with expert decoders for character animation.

Deep LearningGenerative

GANs and Diffusion Models

DCGAN, CycleGAN and a DDPM implemented from scratch.

Deep LearningGenerative

Gradient Domain Fusion

Poisson blending as a least-squares problem on image gradients.

Computer Vision

Neural Style Transfer

Transferring style while preserving content structure.

Computer VisionGenerative