Sarvesh Patil

Hello, welcome to my half quirky - half stereotypical academic website! I’m a first-year PhD in Robotics co-advised by Prof. Oliver Kroemer and Prof. Zeynep Temel. Prior to that, I was an MS in Robotics student at CMU and developed an array of 64 soft delta robots in an 8x8 grid to push the limits of dexterous manipulation with non-anthropomorphic soft robots.

As a PhD student now, I’m trying to develop a framework that can assimilate techiques from Policy Gradients, Causal Discovery, and Cooperative Game Theory for sample efficient robot learning on soft robots for dexterous manipulation (phew that was a mouthful😗💨).

Fundamentally, I want to help democratize robotics. My hardware is an attempt to do 2 things:

Demonstrate how soft robots enable a wide range of manipulation tasks while drastically reducing costs of manufacturing and maintenance.
Create problems hard enough that throwing large models at them is impractical. This drives a need for sample-efficient robot learning algorithms that are structured and interpretable.

Prior to joining CMU I used to work in HyperWorks Imaging, a small startup in Bangalore, where I worked on making conditional GANs and vision-based inference pipelines to save millions of dollars for Sila Nanotechnologies developing high energy density batteries. Before that, I did my Bachelors in Engineering at a small college in Mumbai University called VES Institute of Technology on a TFWS scholarship.

Please feel free to connect with me if you’re interested in either causal discovery, multi-agent RL, or soft robots for manipulation!

news

Nov 6, 2023	Organizing a workshop on Learning for Soft Robots at CoRL 2023 ✈️ 📍Atlanta, GA
Oct 1, 2023	Helped organize my 1st workshop on Causality in Robotics at IROS 2023 ✈️ 📍Detroit, MI
May 29, 2023	Excited to present my 2nd research paper on delta arrays at ICRA 2023 ✈️ 📍London, UK
Jan 28, 2023	Admitted for PhD in Robotics at CMU 🤖! 📍Pittsburgh, PA
Oct 13, 2022	Excited to present my 1st research paper at IROS 2022 ✈️ 📍Kyoto, Japan
May 23, 2022	Attending ICRA 2022 in person! 🤩📍Philadelphia, PA
Aug 5, 2021	Joined MS in Robotics at CMU 🤖! 📍Pittsburgh, PA

selected publications

Enhancing Dexterity in Robotic Manipulation via Hierarchical Contact Exploration

Xianyi Cheng, Sarvesh Patil, Zeynep Temel, Oliver Kroemer, and Matthew T. Mason

2023

HTML PDF

Linear Delta Arrays for Compliant Dexterous Distributed Manipulation

Sarvesh Patil, Tony S. Tao, Tess Lee Hellebrekers, Oliver Kroemer, and Fatma Zeynep Temel

2023

Bib HTML PDF

@article{Patil2023LinearDA,
  title = {Linear Delta Arrays for Compliant Dexterous Distributed Manipulation},
  author = {Patil, Sarvesh and Tao, Tony S. and Hellebrekers, Tess Lee and Kroemer, Oliver and Temel, Fatma Zeynep},
  booktitle = {2023 IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2023},
}

DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education

Sarvesh Patil, Samuel C. Alvares, Pragna Mannam, Oliver Kroemer, and Fatma Zeynep Temel

2022

Bib HTML PDF

@article{Patil2022DeltaZAA,
  title = {DeltaZ: An Accessible Compliant Delta Robot Manipulator for Research and Education},
  author = {Patil, Sarvesh and Alvares, Samuel C. and Mannam, Pragna and Kroemer, Oliver and Temel, Fatma Zeynep},
  booktitle = {IROS 2022},
  year = {2022},
  volume = {abs/2207.00721},
}

Multi-Modal Super Resolution for Dense Microscopic Particle Size Estimation

Sarvesh Patil, Chava Y P D Phani Rajanish, and Naveen Margankunte

2020

Bib HTML PDF

@article{Patil2020MultiModalSR,
  title = {Multi-Modal Super Resolution for Dense Microscopic Particle Size Estimation},
  author = {Patil, Sarvesh and Rajanish, Chava Y P D Phani and Margankunte, Naveen},
  booktitle = {ArXiv},
  year = {2020},
  volume = {abs/2010.09594},
}