Sudarshan S Harithas

Hi there! I'm Sudarshan, a Computer Science PhD studentt Brown University supervised by Prof. Srinath Sridhar at the Interactive 3D Vision & Learning Lab (IVL). My research interests are in robot learning and motion planning, my long term research goal is to develop robots that can autonomously navigate and interact with the real world. My focus is on designing foundation models that exhibit enhanced generalization capabilities for sequential decision-making tasks, including robotic task and motion planning.

I graduated from the International Institute of Information Technology Hyderabad (IIIT-H) with an MS in Computer Science, where I worked under the supervision of Prof. K Madhava Krishna. My research interests broadly lie in the field of robot perception and motion planning. I completed my Bachelor's in Electronics and Communication from BMS College of Engineering.

I am currently looking out for a research internship, please do reach out to me if you see me as a good fit to your group.

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What's New

[Aug 2023] Our work FinderNet is accepted at WACV2024 in the first round

[Aug 2023] Started my PhD at Brown CS

[July 2022] Stated with the SGI program organized by MIT

[July 2021] Started as a Master's student at IIIT-H at the Robotics Research Center

[September 2020] Started my work as a research assistant at Robotics Research Center IIIT Hyderabad

[August 2020] I graduated from BMS College of Engineering

Publications

FinderNet: A Data Augmentation Free Canonicalization aided Loop Detection and Closure technique for Point clouds in 6-DOF separation.

Sudarshan S Harithas , Gurkirat Singh, Aneesh Chavan, Sarthak Sharma , Suraj Patni , Chetan Arora , K. Madhava Krishna

Accepted at WACV 2024 in the first round

Paper
Video

UrbanFly: Uncertainty-Aware Planning for Navigation Amongst High-Rises with Monocular Visual-Inertial SLAM Maps

Sudarshan S Harithas , Ayyappa Swamy Thatavarthy, Gurkirat Singh ,Arun Kumar Singh, K Madhava Krishna

IEEE American Control Conference, 2023.

Paper

CCO-VOXEL: Chance Constrained Optimization over Uncertain Voxel-Grid Representation for Safe Trajectory Planning

Sudarshan S Harithas , Rishabh Dev Yadav, Deepak Singh, Arun Kumar Singh, K Madhava Krishna

IEEE International Conference on Robotics and Automation, 2022.

Paper

RP-VIO: Robust Plane-based Visual-Inertial Odometry for Dynamic Environments

Karnik Ram, Chaitanya Kharyal, Sudarshan S. Harithas , K. Madhava Krishna

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

Paper

ARDOP: A Versatile Humanoid Robotic Research Platform

Sudarshan S Harithas , Harish V Mekali

Arxiv Preprint, 2021.

Paper

GENERIK: An objective function optimization approach to inverse kinematics

Sudarshan S Harithas , Harish V Mekali, Soumya Sunkara

IEEE International Symposium on Smart Electronics Systems (iSES) 2020

Paper

Research Experience

Robotics Research Center IIIT Hyderabad

Graduate Research Associate [July2021- present ], previously worked as a Research Assistant [Sep2020-Present]

Summer Geometry Initiative (SGI)

Research Fellow at SGI2022 conducted by MIT. [July-August]

Robotics and Embedded Systems Lab BMS College of Engineering

Undergraduate Researcher under the guidance of Professor Harish V Mekali [Sep2016-Aug2020]