Bhairav Mehta

I am a research intern at MILA under the supervision of Liam Paull and Christopher Pal, working on Duckietown and sim2real transfer. I completed my undergraduate degree at the University of Michigan where I studied Computer Science and Applied Math. At Michigan, my research projects under Satinder Singh and Matthew Johnson-Roberson focused on hierarchical RL as well as robotic reinforcement learning. I spent a semester at the Jet Propulsion Laboratory, working full-time under Larry H. Matthies in the Computer Vision Group, and spent my last semester helping teach the Introduction to Machine Learning course at Michigan with Sindhu Kutty.

My research interests are concentrated at the intersection of robotics and reinforcement learning, including the simulation-transfer problem and model-based reinforcement learning, but I am also excited by research areas such as lifelong learning and deep learning.

In my free time, I develop the machine learning algorithms behind an edtech startup I cofounded named Project Chronicle. We have been funded by the University of Michigan CSE Department and the 1517 Fund.

Email: bhairavmehta95[AT]gmail.com

Github: bhairavmehta95
LinkedIn: bhairavmehta95

Active Research Projects

Duckietown

I do my research at MILA mostly working with Duckietown (Check out our simulator). I also help out with setting up infrastructure for our upcoming NIPS 2018 and ICRA 2019 AI Driving Olympics (AIDO) competitions.



Multiagent Robotic RL in Gazebo
Bhairav Mehta, Matthew Johnson-Roberson
Undergraduate Senior Thesis
[Proposal] [Github: Coming Soon!]

This project, building upon the work of Erle Robotics, aims to give researchers the ability to train teams of robots in simulation using Gazebo, a more well known physics simulator (w.r.t robotics research). The project, with a modular interface to swap out RL algorithms, robots, and environments, aims to boost interest by providing a solution that does not require porting URDF models and rebuilding robot environments.



A Scalable, Flexible Augmentation of the Student Education Process
Bhairav Mehta, Adithya Ramanathan
Extended Abstract [Full Paper Soon]

We present a information retrieval approach to education and provide a end-to-end framework to go from raw text to a system where a student can learn about different topics such as History and Psychology, all while getting immediate feedback and recommendations on what to study from our system.



Past Work and Startups

Home Support Robotic Learning
Research under Satinder Singh
In Progress

Aiming to train robots in simulation, I have been developing agent environment code and DRL algorithms for a home support robot.



ICLR 2018 Reproducability Challenge
Class Project for EECS 498: Reinforcement Learning

Aiming to reproduce the results in "Parameter Space Noise for Exploration," my team and I entered into the ICLR 2018 Reproducability Challenge. Check out our final draft of the results here.




Perch and Stare: Autonomous Microaerial Vehicle Landing
Research under Larry H. Matthies at the JPL Computer Vision Group

I helped develop the main pipeline that transformed monocular camera images from the MAV's camera into a elevation height map. To then evaluate the usefulness and safety of landing sites, we used metrics like elevation, flatness and clutter to rank landing site candidates, and then used the quadcopter's motor controllers to autonomously land the vehicle.




Robotic Exploration of Space Team
Project Team advised by Edwin Olson
Video

My main project team at Michigan, I developed software features such as localization, teleoperation, and odometry using C++ and ROS for an autonomous mining rover, which we utilized during the Robotic Mining Competition.




Project Chronicle

There is no opportunity as big as education. It is an opportunity to make life-long learners; to excite students about the world; and to create explorers, scientists, entrepreneurs, entertainers, and engineers. But most students dread school. Many don't find relevance in their classes and many find their knowledge useless. Our mission at Project Chronicle is to empower those students with the ownership of stories and enhance their learning through the power of speech.

Project Chronicle has students record their telling of a prompted topic. Our platform analyzes the student's response and give immediate feedback on both the accuracy and delivery of the content. The application both challenges the students to understand the material at a much deeper level than required by typical homework and leaves them with stories they can easily remember and share. It gives them confidence. It gives them comprehension. It gives them a voice.



Teaching

EECS 445: Introduction to Machine Learning
Winter 2018: Instructional Aide

Some supplemental notes I have been writing for the class.




Source stolen from here