Pranay Mathur — accepted AI-conference papers

2025

EgoMimic: Scaling Imitation Learning via Egocentric Video

Simar Kareer, Dhruv Patel, Ryan Punamiya, Pranay Mathur, Shuo Cheng, Chen Wang +2

ICRA 2025

The scale and diversity of demonstration data required for imitation learning is a significant challenge. We present EgoMimic, a full-stack framework which scales manipulation via human embodiment data, specifically egocentric human videos paired with 3D hand tracking. EgoMimic achieves this through

Cited by 136 Source ↗code ↗Scholar ↗

2024

Neural Visibility Field for Uncertainty-Driven Active Mapping

Shangjie Xue, Jesse Dill, Pranay Mathur, Frank Dellaert, Panagiotis Tsiotra, Danfei Xu

CVPR 2024poster

This paper presents Neural Visibility Field (NVF) a novel uncertainty quantification method for Neural Radiance Fields (NeRF) applied to active mapping. Our key insight is that regions not visible in the training views lead to inherently unreliable color predictions by NeRF at this region resulting…

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