I am a fourth year PhD student in the Department of Computer Science at Cornell University and a visiting PhD student at the Stanford AI Lab. I am advised by Ashutosh Saxena. Recently I have been working on deep learning for several sensory rich perception problems on cars, humans, and robots. Broadly my thesis is about human-robot interactive learning systems, and my recent projects are Brain4Cars and RoboBrain. At Stanford I also collaborate with Silvio Savarese. I feel fortunate to have collaborated and mentored by Thorsten Joachims, Silvio Savarese, Bart Selman, Manik Varma, and S V N Vishwanathan. I graduated from IIT Delhi in 2012 with a Bachelors degree in Electrical Engineering.
Structural-RNN accepted as an ORAL to CVPR 2016.
Our paper on sensory-fusion RNN-LSTM for driver activity anticipation is accepted to ICRA 2016
I recently gave talks at Oculus, University of Washington Seattle, Keynote at the ICCV workshop on Autonomous driving, BayLearn Symposium, Qualcomm, and Zoox Labs on: Deep Learning for Spatio-Temporal Problems: On Cars, Humans, and Robots (ppt with videos, 300MB) (pdf, 30MB)
Neuralmodels: A deep learning package for quick prototyping of structures of Recurrent Neural Networks and for deep learning over spatio-temporal graphs.
My recent talk at BayLearn 2015 on Brain4Cars
My research interest lies at the intersection of machine learning, robotics, and computer vision. Broadly, I build machine learning systems & algorithms for agents – such as robots, cars etc. – to learn from informative human signals at a large-scale. Most of my work has been in multi-modal sensor-rich robotic settings, for which I have developed sensory fusion deep learning architectures. I have developed and deployed algorithms on multiple robotic platforms (PR2, Baxter etc.), on cars, and crowd-sourcing systems.
Learning Preferences for Manipulation Tasks from Online Coactive Feedback.
Ashesh Jain, Shikhar Sharma, Thorsten Joachims, Ashutosh Saxena
IJRR 2015 [PDF]
Brain4Cars: Sensory-Fusion Recurrent Neural Models for Driver Activity Anticipation
Ashesh Jain, Shane Soh, Bharad Raghavan, Avi Singh, Hema S Koppula, Ashutosh Saxena
BayLearn Symposium 2015 [Extended abstract] (Full ORAL)
PlanIt: A Crowdsourcing Approach for Learning to Plan Paths from Large Scale Preference Feedback.
Ashesh Jain, Debarghya Das, Jayesh Gupta, Ashutosh Saxena
ICRA 2015 [PDF]
RoboBrain: Large-Scale Knowledge Engine for Robots
Ashutosh Saxena, Ashesh Jain, Ozan Sener, Aditya Jami, Dipendra K Misra, Hema S Koppula
ISRR 2015 [arXiv]
Anticipatory Planning for Human-Robot Teams.
Hema S Koppula, Ashesh Jain, Ashutosh Saxena
ISER 2014 [PDF]
Beyond Geometric Path Planning: Learning Context-Driven Trajectory Preferences via Sub-optimal Feedback.
Ashesh Jain, Shikhar Sharma, Ashutosh Saxena
ISRR 2013 [PDF]
Learning Trajectory Preferences for Manipulators via Iterative Improvement.
Ashesh Jain, Brain Wojcik, Thorsten Joachims, Ashutosh Saxena
NIPS 2013 [PDF]
Brain4Cars: Sensory-fusion deep learning for smart-cars
Interactive human-robot learning from coactive feedback
Anticipating driver maneuvers few seconds in advance
Structural-RNN: Deep Learning on Spatio-Temporal Graphs
Invited talk at Oculus (Facebook), April 2016
Keynote at the ICCV workshop on Autonomous driving. Title: Deep Learning for Spatio-Temporal Problems: On Cars, Humans, and Robots. Dec 2015
Invited talk at Zoox Labs (autonomous driving startup), Dec 2015
Talk at University of Washington Seattle Department of Computer Science, Nov 2015
Invited talk at Qualcomm Deep Learning Research Center, Nov 2015
Oral at BayLearn 2015 on Brain4Cars: Sensory-fusion Recurrent Neural Networks (Video)
Invited Talk at RSS Workshop on Model Learning for Human-Robot Communication, July 2015
Invited Talk at ICML Workshop on Machine Learning for Interactive Systems, July 2015
Invited Talk at ICRA Tutorial on Planning, Control, and Sensing for Safe Human-Robot Interaction, May 2015
Invited Talk at IIT Kanpur Department of Computer Science. RoboBrain and Learning from Weak Signals, Feb 2015
Stanford Semantics and Geometry Seminar. RoboBrain and Learning from Weak Signals, Feb 2015
Stanford Robotics Seminar. Learning from Weak Signals, Nov 2014
Introductory talk at LPCHS workshop RSS 2014. Learning from Humans. (Slides)
Cornell AI Seminar and ISRR 2013. Beyond Geometric Path Planning. (Slides)
ICML Robot Learning workshop 2013. (Slides)
Lecture at Indo-German Winter Acadmey 2010. (Slides)