Gaurav Singh

I am an incoming PhD student at Brown University, advised by Prof. Srinath Sridhar, at the Interactive 3D Vision & Learning Lab (IVL).

I completed my B.Tech and MS by Research in Computer Science at IIIT Hyderabad, advised by Prof. K. Madhava Krishna where I worked on 3D representations for shape completion, reconstruction and 6-DoF grasp pose generation.

News

Jun 2025: DG16M accepted at IROS 2025!
Mar 2025: Served as a reviewer for IROS 2025
Jan 2025: DA-VIL accepted at ICRA 2025!
Oct 2024: Served as a reviewer for ICRA 2025
Jun 2024: CGDF accepted at IROS 2024 🥳 See you in Abu Dhabi 🐪🐪
Sep 2023: HyP-NeRF accepted at NeurIPS 2023! 🥳🥳 See you in New Orleans 🎷
Sep 2023: Served as a reviewer for RA-L
Jan 2023: SCARP accepted at ICRA 2023! 🥳🥳 See you in London 🇬🇧
Jan 2023: SCARP featured as the "Publication of the Week" in the Weekly Robotics newsletter.
Nov 2022: Served as a reviewer at ICRA 2023

Research

My research interests lie at the intersection of 3D computer vision and robotics. I am interested in building structured visual representations of the world to enable generalizable robot manipulation in open-world environments.

* Equal contribution / selected papers
	DG16M: A Large-Scale Dataset for Dual-Arm Grasping with Force-Optimized Grasps Md Faizal Karim, Mohammed Saad Hashmi, Shreya Bollimuntha, Mahesh Reddy Tapeti, Gaurav Singh, Nagamanikandan Govindan, K Madhava Krishna IROS, 2025 project page / paper A large-scale dataset of 16M dual-arm grasps with force-closure constraints, enabling better grasp synthesis for dual-arm manipulation.
	SceneComplete: Open-World 3D Scene Completion in Complex Real World Environments for Robot Manipulation Aditya Agarwal, Gaurav Singh, Bipasha Sen, Tomás Lozano-Pérez, Leslie Pack Kaelbling Under Review, 2025 project page / arXiv A novel pipeline for constructing complete, segmented 3D models from single views by composing pretrained perception modules.
	DA-VIL: Adaptive Dual-Arm Manipulation with Reinforcement Learning and Variable Impedance Control Md Faizal Karim, Shreya Bollimuntha, Mohammed Saad Hashmi, Autrio Das, Gaurav Singh, Srinath Sridhar, Arun Kumar Singh, Nagamanikandan Govindan, K Madhava Krishna ICRA, 2025 project page / arXiv A novel pipeline combining policy learning and gradient-based optimization for adaptive dual-arm manipulation with dynamic impedance control.
	Constrained 6-DoF Grasp Generation on Complex Shapes for Improved Dual-Arm Manipulation Gaurav Singh, Sanket Kalwar, Md Faizal Karim, Bipasha Sen, Nagamanikandan Govindan, Srinath Sridhar, K. Madhava Krishna IROS, 2024 project page / arXiv A diffusion-based grasp generative model that can generate dense grasps on target regions of complex objects without explicit constraint training.
	HyP-NeRF: Learning Improved NeRF Priors using a HyperNetwork Bipasha Sen, Gaurav Singh, Aditya Agarwal, Rohith Agaram, K. Madhava Krishna, Srinath Sridhar NeurIPS*, 2023 project page / arXiv A hypernetwork-based approach for learning generalizable category-level NeRF priors with improved quality and multi-view consistency.
	SCARP: 3D Shape Completion in ARbitrary Poses for Improved Grasping Bipasha Sen, Aditya Agarwal, Gaurav Singh, B. Brojeshwar, Srinath Sridhar, K. Madhava Krishna ICRA*, 2023 project page / arXiv A model that performs shape completion in arbitrary poses by learning disentangled pose and shape features, improving grasp proposals by 71.2%.

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