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<strong>Jay Darshan Vakil</strong>
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<h2 class="title is-3">About me</h2>
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<p style="font-size: 75% ;text-align: center;">Refresh the page to see a
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<p>
I am currently a first year PhD student in the
<a href="https://www.colorado.edu/cs/">Computer Science department at the
University of Colorado Boulder</a>. I am advised by <a
href="https://alessandro.ronc.one">Alessandro Roncone</a>, <a
href="https://www.colorado.edu/ecee/nikolaus-correll">Nikolaus
Correll</a>, and <a
href="https://www.colorado.edu/cs/christoffer-heckman">Christoffer
Heckman</a>. I am also mentored by <a
href="https://vikashplus.github.io">Vikash Kumar</a>, <a
href="https://fmeier.github.io/">Franziska Meier</a>, and
<a href="https://cpaxton.github.io/">Chris Paxton</a>.
<br>
Previously, I worked as a Robotics Engineer at <a
href="https://ai.facebook.com/">Facebook AI
Research (FAIR)</a> with the
Embodied
AI team.
<br>
I earned my Bachelor of Science in Electrical Engineering with a Computer
Science and Math minor from the <a href="https://uw.edu">University of
Washington</a>.
</p>
<p>
I am interested in areas of Robotics, Embodied Artificial Intelligence
(EAI),
and solving autonomous world navigation. I build efficient large-scale
artificial agents that learn from
structured visual world representations to solve multi-task, non-trivial
manipulation problems. Besides robotics and research, I am
interested in <a href="bouldering.html">climbing/bouldering</a>,
photography, football(soccer), and cars.
</p>
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<img src="media/sti.png" alt="">
<div style="margin-top: 3%;">
<caption>Research project (2022)</caption>
</div>
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<div class="publication-video">
<img src="media/nsc.png" alt="">
<div style="margin-top: 3%;">
<caption>Associate's of Science (2017-2018)</caption>
</div>
</div>
</div>
</div>
</div>
</div>
</div>
<!--
<div class="container is-max-desktop">
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<div class="column has-text-center" id="affiliations">
<h2 class="title is-3">News</h2>
<div class="columns is-left is-vcentered">
<div class="column has-text-centered">
<div>
<p class="has-text-centered" style="font-size: 105%;"><b>Dec 2023</b> - RoboAgent wins the best presentation award at the <a href="https://www.robot-learning.ml/2023/">6th Robot Learning Workshop</a> @ NeurIPS 2023</p>
</div>
</div>
</div>
<div class="columns is-centered is-vcentered">
<div class="column has-text-centered">
<div>
<p class="has-text-centered" style="font-size: 105%;"><b>Nov 2023</b> - Serving as a reviewer for ICRA 2024</p>
</div>
</div>
</div>
</div>
</div>
</div> -->
<div class="container is-max-desktop">
<div class="content is-centered has-text-centered">
<div class="column has-text-center">
<h2 class="title is-3">Research/Projects</h2>
<div class="columns is-centered is-vtop" id="roboagent">
<div class="column is-one-third has-text-centered">
<img src="media/Screenshot 2024-08-26 at 11.54.58 AM.png" alt="">
</div>
<div class="column has-text-left" style="font-size: 100%;">
<h6>
Towards Open-World Mobile Manipulation in Homes:
Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challenge
</h6>
<p>
Sriram Yenamandra*, Arun Ramachandran*, Mukul Khanna*, Karmesh Yadav*, <b>Jay Vakil*</b>,
Andrew Melnik, Michael Büttner, Leon Harz, Lyon Brown, Gora Chand Nandi, Arjun PS, Gaurav
Kumar Yadav, Rahul Kala, Robert Haschke, Yang Luo, Jinxin Zhu, Yansen Han, Bingyi Lu, Xuan
Gu, Qinyuan Liu, Yaping Zhao, Qiting Ye, Chenxiao Dou, Yansong Chua, Volodymyr Kuzma,
Vladyslav Humennyy, Ruslan Partsey, Jonathan Francis, Devendra Singh Chaplot, Gunjan
Chhablani, Alexander Clegg, Theophile Gervet, Vidhi Jain, Ram Ramrakhya, Andrew Szot, Austin
Wang, Tsung-Yen Yang, Aaron Edsinger, Charlie Kemp, Binit Shah, Zsolt Kira, Dhruv Batra,
Roozbeh Mottaghi, Yonatan Bisk, Chris Paxton
</p>
<p class="is-9"><strong>In review</strong></p>
<p class="has-text-centered">
<a href="https://aihabitat.org/challenge/2023_homerobot_ovmm/">Website</a>/
<a href="https://arxiv.org/pdf/2407.06939">Paper</a>/
</p>
</div>
</div>
<div class="columns is-centered is-vtop" id="roboagent">
<div class="column is-one-third has-text-centered">
<img src="media/openx.png" alt="" style="scale: 75%;">
</div>
<div class="column has-text-left" style="font-size: 100%;">
<h6>
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
</h6>
<p>
Open-X X-Embodiment Collaboration
</p>
<ul>
<li>Best Conference Paper Award</li>
<li>Best Student Paper Award (Finalist)</li>
<li>Best Paper Award in Robot Manipulation (Finalist)</li>
<li>International Conference on Robotics and Automation (ICRA), 2024</li>
<li>CoRL 2023 Workshop Towards Generalist Robots (Oral Presentation)</li>
</ul>
<p class="has-text-centered">
<a href="https://robotics-transformer-x.github.io">Website</a>/
<a href="https://arxiv.org/pdf/2310.08864">Paper</a>/
<a
href="https://docs.google.com/spreadsheets/d/1rPBD77tk60AEIGZrGSODwyyzs5FgCU9Uz3h-3_t2A9g/edit?gid=0#gid=0">Dataset</a>/
<a href="https://github.com/google-deepmind/open_x_embodiment">Code</a>/
</p>
</div>
</div>
<div class="columns is-centered is-vtop" id="roboagent">
<div class="column is-one-third has-text-centered">
<img src="media/preview.gif" alt="">
</div>
<div class="column has-text-left" style="font-size: 100%;">
<h6>
OK-Robot: What Really Matters in Integrating Open-Knowledge Models for Robotics
</h6>
<p>
<a href="https://leo20021210.github.io/" target="_blank">Peiqi Liu*</a>,
<a href="https://www.linkedin.com/in/yaswanth-kumar-orru/" target="_blank">Yaswanth
Orru*</a>,
<a href="https://jdvakil.github.io/" target="_blank">Jay Vakil</a>,
<a href="https://cpaxton.github.io/" target="_blank">Chris Paxton</a>,
<a href="https://mahis.life" target="_blank">Nur Muhammad "Mahi" Shafiullah<sup>†</sup></a>,
<a href="https://lerrelpinto.com/" target="_blank">Lerrel Pinto<sup>†</sup></a>
</p>
<p class="is-9"><strong>RSS 2024</strong></p>
<p class="has-text-centered">
<a href="https://ok-robot.github.io/">Website</a>/
<a href="https://arxiv.org/abs/2401.12202">Paper</a>/
<a href="https://github.com/ok-robot/ok-robot">Code</a>
</p>
</div>
</div>
<div class="columns is-centered is-vtop" id="roboagent">
<div class="column is-one-third has-text-centered">
<img src="media/Screenshot 2023-10-13 at 11.56.40.png" alt="">
</div>
<div class="column has-text-left" style="font-size: 100%;">
<h6>
RoboHive: A Unified Framework for Robot Learning
</h6>
<p>
<a href="https://vikashplus.github.io">Vikash Kumar</a>,
<a href="https://shahrutav.github.io/">Rutav Shah</a>,
<a href="https://gaoyuezhou.github.io/">Gaoyue Zhou</a>,
<a href="https://www.linkedin.com/in/vincent-moens-9bb91972/?originalSubdomain=uk">Vincent
Moens</a>,
<a href="https://vittorio-caggiano.github.io/">Vittorio Caggiano</a>,
<strong>Jay Vakil</strong>,
<a href="https://homes.cs.washington.edu/~abhgupta/">Abhishek Gupta</a>, and
<a href="https://aravindr93.github.io/">Aravind Rajeswaran</a>
.
</p>
<p class="is-9"><strong>NeurIPS 2023</strong></p>
<p class="has-text-centered">
<a href="https://sites.google.com/view/robohive">Website</a>/
<a href="https://arxiv.org/pdf/2310.06828.pdf">Paper</a>/
<a href="https://sites.google.com/view/robohive/roboset">Dataset</a>/
<a href="https://github.com/vikashplus/robohive">Code</a>/
<a href="https://pypi.org/project/robohive/">PyPI</a>
</p>
</div>
</div>
<div class="columns is-centered is-vtop" id="roboagent">
<div class="column is-one-third has-text-centered">
<img src="media/roboagent_webpreview.png" alt="">
</div>
<div class="column has-text-left" style="font-size: 100%;">
<h6>
RoboAgent: Towards Sample Efficient Robot Manipulation with Semantic Augmentations and
Action Chunking
</h6>
<p>
<a href="https://homangab.github.io">Homanga Bharadhwaj</a>*,
<b>Jay Vakil</b>*, <a href="https://mohitsharma0690.github.io/">Mohit Sharma</a>*, <a
href="http://www.cs.cmu.edu/~abhinavg/">Abhinav Gupta</a>, <a
href="http://shubhtuls.github.io/"> Shubham Tulsiani</a>, and
<a href="https://vikashplus.github.io">Vikash Kumar</a>.
</p>
<p class="is-9">
<strong>Accepted at: </strong>
<div style="font-size: 69%;">
<ul>
<li>
<a href="https://2024.ieee-icra.org/">2024 IEEE International Conference on
Robotics and Automation</a>
</li>
<li><a href="https://www.robot-learning.ml/2023/">6th Robot
Learning Workshop</a> @ <strong>NeurIPS 2023</strong> (Outstanding presentation
award)</li>
<li> <a href="https://sites.google.com/stanford.edu/corl2023ood/">Out-of-Distribution
Generalization in Robotics</a> @ <strong>CoRL 2023</strong> </li>
</ul>
</div>
</p>
<p class="has-text-centered">
<a href="https://robopen.github.io">Website</a>/
<a href="https://robopen.github.io/roboagent.pdf">Paper</a>/
<a href="https://robopen.github.io/roboset">Dataset</a>/
<a href="https://github.com/robopen/roboagent/">Code</a>
</p>
</div>
</div>
<br>
<div class="columns is-centered is-vtop" id="roboagent">
<div class="column is-one-third has-text-centered">
<img src="media/pvrs_sim2real_teaser.png" alt="">
</div>
<div class="column has-text-left" style="font-size: 100%;">
<h6>
What do we learn from a large-scale study of pre-trained visual representations in sim and
real environments?
</h6>
<p>
<a href="http://ssilwal.com/">Sneha Silwal</a>*, <a target="_blank"
href="http://karmeshyadav.com/">Karmesh Yadav</a>*, <a target="_blank"
href="https://www.linkedin.com/in/tingfan-wu-5359669">Tingfan Wu</a>*,
<strong>Jay Vakil</strong>*,
<a target="_blank" href="https://arjunmajum.github.io">Arjun Majumdar</a>*,
<a target="_blank"
href="https://www.linkedin.com/in/sergio-arnaud-226456198/">Sergio Arnaud</a>*,
<a target="_blank" href="https://msl.stanford.edu/people/clairechen">Claire Chen</a>,
<a target="_blank"
href="https://www.linkedin.com/in/vincentpierreberges/">Vincent-Pierre Berges</a>,
<a target="_blank" href="https://faculty.cc.gatech.edu/~dbatra/">Dhruv Batra</a>,
<a target="_blank" href="https://aravindr93.github.io/">Aravind Rajeswaran</a>,
<a target="_blank"
href="https://www.linkedin.com/in/mrinalkalakrishnan">Mrinal Kalakrishnan</a>,
<a target="_blank" href="https://fmeier.github.io">Franziska Meier</a>,
and <a target="_blank" href="https://www.maksymets.com/">Oleksandr Maksymets</a>
</p>
<p class="has-text-centered">
<a href="https://pvrs-sim2real.github.io/">Website</a>/
<a href="https://pvrs-sim2real.github.io/assets/2310.02219.pdf">Paper</a>
</p>
<p class="is-9">
<strong>Accepted at: </strong>
<div style="font-size: 69%;">
<ul>
<li>
<a href="https://2024.ieee-icra.org/">2024 IEEE International Conference on
Robotics and Automation</a>
</li>
</ul>
</div>
</p>
</div>
</div>
<br>
<div class="columns is-centered is-vtop" id="roboagent">
<div class="column is-one-third has-text-centered">
<img src="media/VC1_teaser_7.png" alt="">
</div>
<div class="column has-text-left" style="font-size: 100%;">
<h6>
Where are we in the search for an Artificial Visual
Cortex for Embodied Intelligence?
</h6>
<p>
Arjun Majumdar, Karmesh Yadav, Sergio Arnaud, Yecheng Jason Ma, Claire Chen, Sneha Silwal,
Aryan Jain, Vincent-Pierre Berges, Tingfan Wu, <b>Jay Vakil</b>, Pieter Abbeel, Jitendra
Malik,
Dhruv Batra, Yixin Lin, Oleksandr Maksymets, Aravind Rajeswaran, Franziska Meier
</p>
<p class="is-9"><strong>NeurIPS 2023</strong></p>
<p class="has-text-centered">
<a href="https://eai-vc.github.io/">Website</a>/
<a href="">Paper</a>/
<a href="">Dataset</a>/
<a href="">Code</a>
</p>
</div>
</div>
<br>
<div class="columns is-centered is-vtop" id="slap">
<div class="column is-one-third has-text-centered">
<img src="media/slap.png" alt="">
</div>
<div class="column has-text-left" style="font-size: 100%;">
<h6>
Spatial-Language Attention Policies for Efficient Robot Learning
</h6>
<p>
<a href="https://acsweb.ucsd.edu/~pparasha/">Priyam Parashar</a>, <a
href="https://vidhijain.github.io/">Vidhi Jain</a>, <a
href="https://keke-220.github.io/">Xiaohan Zhang</a>, <b>Jay Vakil</b>, <a
href="https://www.ri.cmu.edu/ri-people/samantha-powers/">Sam Powers</a>, and <a
href="https://cpaxton.github.io/">Chris Paxton</a>
</p>
<p class="is-9"><strong>CoRL 2023</strong></p>
<p class="has-text-centered">
<a href="https://roboslap.github.io">Website</a>/
<a href="https://arxiv.org/abs/2304.11235">Paper</a>
</p>
</div>
</div>
<br>
<div class="columns is-centered is-vtop">
<div class="column is-one-third has-text-centered">
<img src="media/capstone.png" alt="">
</div>
<div class="column has-text-left" style="font-size: 100%;" id="capstone">
<h6>
Master Controller For High Energy Electron Source Part II
</h6>
<p>
<b>Jay Vakil</b>*, Esayas Abera*, Cyrus Safi*, Wayne Kimura
</p>
<p class="has-text-centered">
<a href="media/Capstone_presentation.pdf">Presentation</a>
</p>
</div>
</div>
</div>
</div>
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