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<!DOCTYPE html>
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<meta name="description" content="Jay Vakil">
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<h1>Jay Vakil</h1>
<p>
I am a first year PhD student in the <a href="https://www.colorado.edu/cs/">Computer Science
department at the
University of Colorado Boulder</a> advised by <a href="https://alessandro.ronc.one">Alessandro
Roncone</a> and <a href="https://www.colorado.edu/ecee/nikolaus-correll">Nikolaus
Correll</a>. I am also mentored by <a href="https://vikashplus.github.io">Vikash Kumar</a> and
<a href="https://cpaxton.github.io/">Chris Paxton</a>. Previously, I was a researcher at the <a
href="https://ai.facebook.com/">Facebook AI Research (FAIR)</a> with the Embodied AI team.
<br><br>
I earned my Bachelor of Science in Electrical Engineering with a Computer
Science and Math minor from the <a href="https://uw.edu">University of Washington</a>.
<br><br>
I am always excited to learn through conversations—please feel free to reach out if you’d like to
collaborate or chat!
<br><br>
<span style="color:cornflowerblue;">jay dot last_name at colorado dot edu</span>
<div id="more-bio" style="display: None">
<br>
<p>Full bio here</p>
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<a href="https://www.linkedin.com/in/jdvakil/" class="external-link button is-normal is-rounded "
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<!-- Highlights -->
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Some recent highlights from our research:
</div>
<!-- Preview Videos -->
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<a href="https://robopen.github.io"><video class="preview1" playsinline="" muted="" autoplay="" loop="">
<source src="media/big_banner.mp4" type="video/mp4">
</video></a>
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class="preview2" playsinline="" muted="" autoplay="" loop="">
<source src="media/teaser_compressed.mp4" type="video/mp4">
</video></a>
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loop="">
<source src="media/optimized_mosaic.mp4" type="video/mp4">
</video></a>
</div>
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<p class="date">Aug 2024</p> Started PhD at the <a href="https://www.colorado.edu/">University of
Colorado Boulder</a>
</div>
<div class="list-item highlight" data-category="highlight">
<p class="date">May 2024</p> <a href="https://robotics-transformer-x.github.io/">RT-X</a> won the
Best Paper Award at ICRA 2024!
</div>
<div class="list-item highlight" data-category="highlight">
<p class="date">Jan 2024</p> <a href="https://robotics-transformer-x.github.io/">RT-X</a> accepted
at ICRA 2024 with 3 best paper nominations!
</div>
<div class="list-item highlight" data-category="highlight">
<p class="date">Dec 2023</p> <a href="https://robopen.github.io">RoboAgent</a> won the Outstanding
Presentation Award at NeurIPS 2023
</div>
<div class="list-item highlight" data-category="highlight">
<p class="date">Apr 2022</p> Started as a Robotics Engineer at the <a
href="https://ai.meta.com/research/">FAIR team at Meta</a>
</div>
<div class="list-item highlight" data-category="highlight">
<p class="date">Mar 2022</p>Graduated from the <a href="https://uw.edu">University of Washington</a>
with a Bachelor of Science
</div>
</div>
<!-- Toggle highlights button. -->
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<a id="toggle_highlights_button" href="javascript:toggle_highlights()">Show more</a>
</div>
<!-- Publications -->
<div class="list-item publication" data-category="publication">
<a href="https://aihabitat.org/challenge/2023_homerobot_ovmm/" class="thumbnail">
<img src="media/Screenshot 2024-08-26 at 11.54.58 AM.png" alt="" />
</a>
<div class="project-description">
<h3><a href="https://aihabitat.org/challenge/2023_homerobot_ovmm/">Towards Open-World Mobile
Manipulation in Homes:
Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challenge</a>
</h3>
<p style="font-size: 75%;">
Sriram Yenamandra*, Arun Ramachandran*, Mukul Khanna*, Karmesh Yadav*, <b>Jay Vakil*</b>,
Andrew Melnik,
Michael Büttner, Leon Harz, Lyon Brown, Gora Chand Nandi, Arjun PS, Gaurav Kumar Yadav,
Rahul
Kala, Robert Haschke, Yang Luo, Jinxin Zhu, Yansen Han, Bingyi Lu, Xuan Gu, Qinyuan Liu,
Yaping
Zhao, Qiting Ye, Chenxiao Dou, Yansong Chua, Volodymyr Kuzma, Vladyslav Humennyy, Ruslan
Partsey, Jonathan Francis, Devendra Singh Chaplot, Gunjan Chhablani, Alexander Clegg,
Theophile
Gervet, Vidhi Jain, Ram Ramrakhya, Andrew Szot, Austin Wang, Tsung-Yen Yang, Aaron Edsinger,
Charlie Kemp, Binit Shah, Zsolt Kira, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, Chris
Paxton
<br>
<a href="https://aihabitat.org/challenge/2023_homerobot_ovmm/">Website</a>/
<a href="https://arxiv.org/pdf/2407.06939">Paper</a>
</p>
<br> <!-- TODO: extra spaces until I figure out the margin bug. -->
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://robotics-transformer-x.github.io" class="thumbnail">
<img src="media/openx.png" alt="" />
</a>
<div class="project-description">
<h3><a href="https://robotics-transformer-x.github.io">Open X-Embodiment: Robotic Learning Datasets
and RT-X
Models</a>
</h3>
<p style="font-size: 75%;">
Open-X X-Embodiment Collaboration
<li>Best Conference Paper Award, ICRA 2024</li>
<li>Best Student Paper Award (Finalist), ICRA 2024</li>
<li>Best Paper Award in Robot Manipulation (Finalist)</li>
<li>International Conference on Robotics and Automation (ICRA), 2024</li>
<li>CoRL 2023 Workshop Towards Generalist Robots (Oral Presentation)</li>
<br>
<span style="font-size: 75%;">
<a href="https://robotics-transformer-x.github.io">Website</a>/
<a href="https://arxiv.org/pdf/2310.08864">Paper</a>/
<a
href="https://docs.google.com/spreadsheets/d/1rPBD77tk60AEIGZrGSODwyyzs5FgCU9Uz3h-3_t2A9g/edit?gid=0#gid=0">Dataset</a>/
<a href="https://github.com/google-deepmind/open_x_embodiment">Code</a>
</span>
</p>
<br>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://ok-robot.github.io/" class="thumbnail">
<img src="media/preview.gif" alt="" />
</a>
<div class="project-description">
<h3><a href="https://ok-robot.github.io/">OK-Robot: What Really Matters in Integrating
Open-Knowledge Models for Robotics</a>
</h3>
<p style="font-size: 75%;">
Peiqi Liu*, Yaswanth Orru*, <b>Jay Vakil</b>, Chris Paxton, Nur Muhammad "Mahi" Shafiullah†,
Lerrel Pinto†
<li>RSS 2024</li>
<br>
<span style="font-size: 75%;">
<a href="https://ok-robot.github.io/">Website</a>/
<a href="https://arxiv.org/abs/2401.12202">Paper</a>/
<a href="https://github.com/ok-robot/ok-robot">Code</a>
</span>
</p>
<br>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://sites.google.com/view/robohive" class="thumbnail">
<img src="media/Screenshot 2023-10-13 at 11.56.40.png" alt="" />
</a>
<div class="project-description">
<h3><a href="https://sites.google.com/view/robohive">RoboHive: A Unified Framework for Robot
Learning</a>
</h3>
<p style="font-size: 75%;">
Vikash Kumar, Rutav Shah, Gaoyue Zhou, Vincent Moens, Vittorio Caggiano, <b>Jay Vakil</b>,
Abhishek Gupta, and Aravind Rajeswaran
<li>NeurIPS 2023</li>
<br>
<span style="font-size: 75%;">
<a href="https://sites.google.com/view/robohive">Website</a>/
<a href="https://arxiv.org/pdf/2310.06828.pdf">Paper</a>/
<a href="https://sites.google.com/view/robohive/roboset">Dataset</a>/
<a href="https://github.com/vikashplus/robohive">Code</a>/
<a href="https://pypi.org/project/robohive/">PyPI</a>
</span>
</p>
<br>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://robopen.github.io" class="thumbnail">
<img src="media/big_banner.mp4" alt="" />
</a>
<div class="project-description">
<h3><a href="https://robopen.github.io">RoboAgent: Towards Sample Efficient Robot Manipulation with
Semantic Augmentations
and
Action Chunking</a>
</h3>
<p style="font-size: 75%;">
Homanga Bharadhwaj*, <b>Jay Vakil*</b>, Mohit Sharma*, Abhinav Gupta, Shubham Tulsiani, and
Vikash Kumar.
<li>
ICRA 2024
</li>
<li>6th Robot Learning Workshop @ <strong>NeurIPS 2023</strong> (Outstanding presentation award)
</li>
<li>Out-of-Distribution
Generalization in Robotics @ <strong>CoRL 2023</strong> </li>
<br>
<span style="font-size: 75%;">
<a href="https://robopen.github.io">Website</a>/
<a href="https://robopen.github.io/roboagent.pdf">Paper</a>/
<a href="https://robopen.github.io/roboset">Dataset</a>/
<a href="https://github.com/robopen/roboagent/">Code</a>
</span>
</p>
<br>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://pvrs-sim2real.github.io/" class="thumbnail">
<img src="media/pvrs_sim2real_teaser.png" alt="" />
</a>
<div class="project-description">
<h3><a href="https://pvrs-sim2real.github.io/">What do we learn from a large-scale study of
pre-trained visual representations in sim and
real environments?</a>
</h3>
<p style="font-size: 75%;">
Sneha Silwal*, Karmesh Yadav*, Tingfan Wu*, <b>Jay Vakil*</b>, Arjun Majumdar*, Sergio Arnaud*,
Claire
Chen, Vincent-Pierre Berges, Dhruv Batra, Aravind Rajeswaran, Mrinal Kalakrishnan, Franziska
Meier, and Oleksandr Maksymets
<li>
ICRA 2024
</li>
<br>
<span style="font-size: 75%;">
<a href="https://pvrs-sim2real.github.io/">Website</a>/
<a href="https://pvrs-sim2real.github.io/assets/2310.02219.pdf">Paper</a>
</span>
</p>
<br>
</div>
</div>
<div class="list-item publication" data-category="publication">
<a href="https://eai-vc.github.io/" class="thumbnail">
<img src="media/VC1_teaser_7.png" alt="" />
</a>
<div class="project-description">
<h3><a href="https://eai-vc.github.io/"> Where are we in the search for an Artificial Visual
Cortex for Embodied Intelligence?</a>
</h3>
<p style="font-size: 75%;">
Arjun Majumdar, Karmesh Yadav, Sergio Arnaud, Yecheng Jason Ma, Claire Chen, Sneha Silwal, Aryan
Jain, Vincent-Pierre Berges, Tingfan Wu, <b>Jay Vakil</b>, Pieter Abbeel, Jitendra Malik, Dhruv
Batra,
Yixin Lin, Oleksandr Maksymets, Aravind Rajeswaran, Franziska Meier
<li>
NeurIPS 2023
</li>
<br>
<span style="font-size: 75%;">
<a href="https://eai-vc.github.io/">Website</a>/
<a href="">Paper</a>/
<a href="">Dataset</a>/
<a href="">Code</a>
</span>
</p>
<br>
</div>
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<div class="list-item publication" data-category="publication">
<a href="https://roboslap.github.io" class="thumbnail">
<img src="media/slap.png" alt="" />
</a>
<div class="project-description">
<h3><a href="https://roboslap.github.io">Spatial-Language Attention Policies for Efficient Robot
Learning</a>
</h3>
<p style="font-size: 75%;">
Priyam Parashar, Vidhi Jain, Xiaohan Zhang, <b>Jay Vakil</b>, Sam Powers, and Chris Paxton
<li>
CoRL 2023
</li>
<br>
<span style="font-size: 75%;">
<a href="https://roboslap.github.io">Website</a>/
<a href="https://arxiv.org/abs/2304.11235">Paper</a>
</span>
</p>
<br>
</div>
</div>
<div class="list-item impact" data-category="impact">
<a
href="https://techcrunch.com/2023/08/08/human-toddlers-are-inspiring-new-approaches-to-robot-learning/">
<img src="media/techcrunch.png" class="thumbnail">
</a>
<a
href="https://www.foxnews.com/tech/stop-loading-the-dishwasher-this-robot-aims-to-do-all-the-cleanup-for-you">
<img src="media/foxnews.png" class="thumbnail">
</a>
<a href="https://spectrum.ieee.org/video-friday-toddler-robot"><img src="media/IEEE-Spectrum-Logo.jpg"
class="thumbnail"></a>
<a
href="https://www.techbriefs.com/component/content/article/49121-meet-roboagent-enabling-robots-to-acquire-manipulation-abilities">
<img src="media/techBriefs.png" class="thumbnail">
</a>
</div>
<br>
<div class="list-item impact" data-category="impact">
<a href="https://www.cmu.edu/news/stories/archives/2023/august/parenting-a-3-year-old-robot">
<img src="media/cmu-wordmark-horizontal-r.jpg" class="thumbnail">
</a>
<a href="https://www.ri.cmu.edu/parenting-a-3-year-old-robot/">
<img src="media/cmu-ri-may2023-medium.png" class="thumbnail">
</a>
<a href="https://hackaday.com/2023/08/20/roboagent-gets-its-mt-act-together/">
<img src="media/hackaday.png" class="thumbnail">
</a>
<a href="https://cacm.acm.org/news/275459-parenting-a-three-year-old-robot/fulltext">
<img src="media/acm.png" class="thumbnail">
</a>
</div>
<br>
<div class="list-item impact" data-category="impact">
<a href="https://www.rockingrobots.com/roboagent-modeled-after-human-infants-learning-techniques/">
<img src="media/rockingrobots.png" class="thumbnail">
</a>
<a
href="https://www.technologyreview.com/2024/02/01/1087445/this-robot-can-tidy-a-room-without-any-help/">
<img src="media/mittech.png" class="thumbnail"></a>
<a href="https://studyfinds.org/meta-ai-training-robots-babies/"><img src="media/studyFind.png"
class="thumbnail"></a>
</div>
<div class="list-item impact" data-category="impact">
</div>
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<div class="list-item misc" data-category="misc">
<p class="date">2025</p>Reviewer, IEEE International Conference on Robotics and Automation
(ICRA)
</div>
<div class="list-item misc" data-category="misc">
<p class="date">2024</p>Reviewer, Conference on Robot Learning (CoRL)
</div>
<div class="list-item misc" data-category="misc">
<p class="date">2024</p>Reviewer, IEEE International Conference on Robotics and Automation (ICRA)
</div>
<div class="list-item talk" data-category="talk">
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