Interactive Robot Perception & Learning

Snehal Jauhri

I joined the PEARL/iROSA group at TU Darmstadt as a PhD researcher in June 2021. My research is focused on machine learning & computer vision for robotic perception and mobile manipulation, supervised by Dr. Georgia Chalvatzaki. I am currently also a Research Scientist Intern (PhD) at the Allen Institute for AI (Ai2) with the PRIOR team (CV & Embodied AI).

Before starting my PhD, I completed my M.Sc. from the Delft University of Technology, specializing in robot learning, controls, and embedded systems. For my master’s thesis, I worked with Dr. Jens Kober and Dr. Carlos Celemin on teaching robots through interactive imitation learning.

Research Interests

Robot Learning, Computer Vision, Mobile Manipulation, Neural Fields, Reinforcement Learning, Egocentric Perception

Curriculum Vitae (CV)

News

Sept 2025 – New Preprint!: UniFField: A Generalizable Unified Neural Feature Field for Visual, Semantic, and Spatial Uncertainties in Any Scene
July 2025 – 2HandedAfforder & 6DOPE-GS accepted at ICCV 2025! See you in Hawaii!
June 2025 – Organized the EgoAct Workshop on Egocentric Perception & Action for Robot Learning at RSS 2025
May 2025 – Started working as a Research Scientist Intern (PhD) at the Allen Institute for AI (Ai2) with the PRIOR team (CV & Embodied AI)
March 2025 – New Preprint!: 2HandedAfforder: Learning Precise Actionable Bimanual Affordances from Human Videos
Dec 2024 – New Preprint!: 6DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splatting
May 2024 – NeuGraspNet paper accepted at RSS 2024!
May 2024 – Organizing the 2nd Workshop on Mobile Manipulation & Embodied Intelligence at ICRA 2024!
Feb 2024 – ActPerMoMa paper accepted at ICRA 2024!
June 2023 – Presented NeuGraspNet as a spotlight at the CVPR workshop on 3D Vision & Robotics!
May 2023 – Organizing the Workshop on Representations, Abstractions, and Priors for Robot Learning (RAP4Robots) at ICRA 2023!
Oct 2022 – Presented & won a Best Mobile Manipulation Paper Award šŸ† for “Robot Learning of Mobile Manipulation with Reachability Behavior Priors” at IROS 2022!
June 2022 – “Robot Learning of Mobile Manipulation with Reachability Behavior Priors” accepted for publication at IEEE RA-L & to be presented at IROS 2022!

Key publications

S. Jauhri*, C. Maurer*, S. Lueth, G. Chalvatzaki (2025).
UniFField: A Generalizable Unified Neural Feature Field for Visual, Semantic, and Spatial Uncertainties in Any Scene,
arXiv Preprint, arXiv:2510.06754
Webpage Paper Code (Coming soon)

S. Jauhri*, M. Heidinger*, V. Prasad, G. Chalvatzaki (2025).
2HandedAfforder: Learning Precise Actionable Bimanual Affordances from Human Videos,
in IEEE/CVF International Conference on Computer Vision (ICCV) 2025, Also presented at the RSS 2025 EgoAct Workshop
Webpage Paper Code

Y. Jin, V. Prasad, S. Jauhri, M. Franzius, G. Chalvatzaki (2024).
6DOPE-GS: Online 6D Object Pose Estimation using Gaussian Splatting,
in IEEE/CVF International Conference on Computer Vision (ICCV) 2025, Also presented at the RSS 2025 Gaussian Representations Workshop
Webpage Paper Code (Coming soon)

S. Jauhri, I. Lunawat, G. Chalvatzaki (2023).
NeuGraspNet: Learning Any-View 6DoF Robotic Grasping in Cluttered Scenes via Neural Surface Rendering,
in Robotics: Science and Systems (RSS) 2024, Also presented at CVPR 2023 Workshop on 3D Vision & Robotics
Webpage Paper Code

S. Jauhri*, S. Lueth*, G. Chalvatzaki (2024).
ActPerMoMa: Active-Perceptive Motion Generation for Mobile Manipulation,
in 2024 IEEE International Conference on Robotics and Automation (ICRA)
Webpage Paper Code

S. Jauhri, J. Peters, G. Chalvatzaki (2022).
Robot Learning of Mobile Manipulation with Reachability Behavior Priors,
in IEEE Robotics and Automation Letters (RA-L) and 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), vol. 7, no. 3, pp.8399-8406.
Best Mobile Manipulation Paper Award šŸ†
Webpage Paper Code

P. Liu, K. Zhang, D. Tateo, S. Jauhri, Z. Hu, J. Peters, G. Chalvatzaki (2023).
Safe Reinforcement Learning of Dynamic High-Dimensional Robotic Tasks: Navigation, Manipulation, Interaction,
in 2023 IEEE International Conference on Robotics and Automation (ICRA).
Webpage Paper Code

P. Liu, K. Zhang, D. Tateo, S. Jauhri, J. Peters, G. Chalvatzaki (2022).
Regularized Deep Signed Distance Fields for Reactive Motion Generation,
in 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).
Webpage Paper Code

S. Jauhri, C. Celemin, J. Kober (2020).
Interactive Imitation Learning in State-Space,
in 2020 Conference on Robot Learning (CoRL), 155, pp.682-692, PMLR.
Paper Code

Contact:

> Email: snehal<at>robot-learning.de, snehal.jauhri<at>tu-darmstadt.de
> Linkedin
> Postal address:
TU Darmstadt, FG PEARL,
LandwehrstraƟe 50a, Darmstadt, 64293
Office. Room 4, Hessian AI (S4|23)