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Autonomous Improvement of Instruction Following Skills via Foundation Models
Zhiyuan Zhou*,
Pranav Atreya*,
Abraham Lee,
Homer Walke,
Oier Mees,
Sergey Levine
CoRL, 2024
paper
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website
Robot learning requires data, but does the data need to be human collected? We find that we can boostrap a self-improvement process with a pre-trained policy and VLMs, collecting autonomous data at scale that can be used to improve the policy completely on its own.
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Crafting In-context Examples according to LMs' Parametric Knowledge
Yoonsang Lee*,
Pranav Atreya*,
Xi Ye,
Eunsol Choi
NAACL Findings, 2024
arXiv
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website
What prompts elicit language models to best answer knowledge intensive questions? We find that a mix of in-context examples that the model knows how to answer and doesn't know yields optimal QA performance.
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Zero-Shot Robotic Manipulation with Pre-Trained Image-Editing Diffusion Models
Kevin Black*,
Mitsuhiko Nakamoto*,
Pranav Atreya,
Homer Walke,
Chelsea Finn,
Aviral Kumar,
Sergey Levine
ICLR, 2024
arXiv
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website
SuSIE leverages the internet pretraining of image generation models like InstructPix2Pix to achieve zero-shot robot manipulation on unseen objects, distractors, and scenes.
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High-Speed Accurate Robot Control using Learned Forward Kinodynamics and Non-linear Least Squares Optimization
Pranav Atreya,
Haresh Karnan,
Kavan Singh Sikand,
Xuesu Xiao,
Sadegh Rabiee,
Joydeep Biswas
IROS, 2022
arXiv
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video
We devise Optim-FKD, a new paradigm for accurate, high speed control of a robot using a learned forward kinodynamic model and non-linear least squares optimization.
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VI-IKD: High-Speed Accurate Off-Road Navigation using Learned Visual-Inertial Inverse Kinodynamics
Haresh Karnan,
Kavan Singh Sikand,
Pranav Atreya,
Sadegh Rabiee,
Xuesu Xiao,
Garrett Warnell,
Peter Stone,
Joydeep Biswas
IROS, 2022
arXiv
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video
In this work we learn a visual inverse kinodynamic model conditioned on image patches of the terrain ahead to better enable high-speed navigation on multiple different terrains.
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State Supervised Steering Function for Sampling-based Kinodynamic Planning
Pranav Atreya,
Joydeep Biswas
AAMAS, 2022
arXiv
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video
Optimal sampling-based motion planning algorithms when applied to kinodynamic planning make a trade off between computational efficiency and solution quality. With S3F we demonstrate that both are attainable by proposing a new way to learn the steering function required by these sampling-based planners.
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Custom Operating System
C++, Assembly, QEMU, Git
Built a functional OS from scratch with preemptive scheduling, virtual memory, file IO, and system calls.
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Two-Phase Commit Protocol Implementation
Rust
Implemented the 2PC protocol for execution of a distributed atomic transaction. Uses memory safety and concurrency features of the Rust language.
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GPU Accelerated Fluid Dynamics Simulation
CUDA, C++, Java
Simulated 2D and 3D fluid dynamics using the Navier-Stokes equations. Computation was accelerated with GPU code written in CUDA.
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DyslexiAR - Assistive Technology iOS App for Dyslexic Individuals
Swift, C, Objective-C, EchoAR
DyslexiAR helps dyslexic individuals read and write by recognizing words via OCR and displaying augmented reality models representing the words.
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Funlang
C
Wrote an interpreter and compiler for a programming language with data types, dynamic memory allocation, functions, control structures, and file IO. Compiler is self-hosting (the compiler is written in the language it compiles).
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Custom Deep Learning Library
Java
Implemented an efficient neural network training library from scratch. Library implements many deep learning primitives such as various activation functions, L1 and L2 regularization, and dropout.
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Custom Search Engine
Java
Developed software that crawls web pages and efficiently indexes them using a compressed trie. Built a search engine using relevance feedback and the PageRank algorithm.
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Pipelined CPU with Branch Predictor
Verilog
Implemented a five stage processor in Verilog based off a custom ISA. Can handle data, resource, and control hazards. Implemented a branch predictor with a direct-mapped cache.
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Ultrasound based Tumor Identification Device
Python, Raspberry Pi
Fitted Raspberry Pi with ultrasound sensor to take ultrasound scans of the body part in question. The Pi is programmed to process scan image with a CNN and determine the likelihood of the presence of five different deleterious growth types.
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AI and NLP for Determining Credibility of News Articles
Java, Android, JSoup
Analyzes biases of the publisher, recency of the articles, and performs fact checking with other news sources to evaluate credibility of news article.
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Awards
> Awarded NSF Graduate Research Fellowship [2023]
> Recieved Special Research Distinction Award from UT Austin [2023]
> Winner of the Capital of Texas Undergraduate Research Conference (CTURC) [2022]
> Best Virtual Reality Hack @Hack The Northeast [2021]
> Best iOS App @Orion Hacks [2021]
> First Award, Physical Science & Engineering, Synopsys Technology Championship [2019]
> Mu Alpha Theta Award for Excellence in Mathematics [2019]
> Honorable Mention, Computational Systems & Analysis, California Science and Engineering Fair [2018]
> First Award, Biological Science & Engineering, Synopsys Technology Championship [2018]
> Naval Science Award, United States Navy & Marine Corps [2018]
> Special Congressional Recognition - Congressional App Challenge [2017]
> AP National Scholar with Distinction, National Merit Scholarship Commended [2019]
> Recognition for Science Research, Mayor of Cupertino [2018, 2019]
> Inspire Award, Silicon Valley Regional Robotics Competition [2017]
> USA Computing Olympiad (USACO) Gold Level [2017]
Service
> Teaching Assistant for CS 343 Artificial Intelligence [Spring 2023]
Course website: https://rpl.cs.utexas.edu/cs343_spring2023/
> Co-organizer, 12th Annual F1TENTH Racing Competition at CPS-IoT Week 2023 [2022 - 2023]
Co-organized the 12th F1TENTH Racing Competition held in May 2023 at CPS-IoT Week
> AURA Texas Representative [2022 - Present]
Present research to members of Congress; promote UT undergraduate research at other Texas universities
> Research Ambassador at UT Austin [2021 - Present]
Serve in a Q&A panel in bimonthly undergraduate research events; promote undergraduate research
> Kaiser Permanente [2018 - 2019]
200+ hours of volunteer experience
> Literature Tutor, Math & Physics TA [2016 - 2019]
Tutored high-school students in English Literature; TA for Calculus BC and Physics AP
> Conference reviewer for IROS and RA-L (x2)
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Website adapted from Jon Barron
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