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Divyam Goel
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Biography
Hi! I am a second year MS in Robotics student at Robotics Institute, Carnegie Mellon University. I am fortunate to be co-advised by Prof. Zackory Erickson and Prof. David Held.
Prior to coming to CMU, I spent two wonderful years working on text-to-video generation models at Adobe and Rephrase.ai (now part of Adobe). Concurrently, I was a research assistant at the 3D Language Group at SFU working with Prof. Angel Chang. Even earlier, I received a B.Tech in E&CE from IIT Roorkee.
My research focuses on robot manipulation, policy evaluation, and geometry-aware methods for perception and control.
Interests
- Computer Vision
- Robot Learning
- Robotics
Education
-
MS in Robotics, 2026
Carnegie Mellon University
-
B.Tech. in Electronics and Communications Engineering, 2022
Indian Institute of Technology Roorkee
News
- Nov 2025 SemLayoutDiff accepted at 3DV 2026!
- Aug 2025 Our work on Geometric Red-Teaming for Robotic Manipulation has been accepted at CoRL 2025 and selected for an Oral presentation!
- Aug 2025 New paper SemLayoutDiff on arXiv.
- Aug 2024 Headed to Carnegie Mellon University for my graduate studies in Robotics!
- Mar 2024 Paper titled “Semi‑NMF Regularization‑Based Autoencoder Training for Hyperspectral Unmixing” accepted at NCC 2024.
- Nov 2023 Rephrase AI gets acquired by Adobe! I will be joining Adobe - DVA as a Machine Learning Engineer following the acquisition.
- June 2023 Joined Prof. Angel X. Chang’s lab at SFU as a Research Assistant.
- Apr 2023 Promoted to Deep Learning Researcher at Rephrase AI!
- June 2022 Joined Rephrase AI as a Deep Learning Junior Researcher!
- June 2022 Paper titled “Language Guided Meta-Control for Embodied Instruction Following” accepted at the Embodied AI Workshop @ CVPR 2022! Preprint coming soon.
- May 2022 Paper titled “Leveraging Dependency Grammar for Fine-Grained Offensive Language Detection using Graph Convolutional Networks” accepted at SocialNLP@NAACL 2022! Preprint coming soon.
- Mar 2022: Paper “On the Cross-Modal Transfer from Natural Language to Code through Adapter Modules” accepted at ICPC 2022! Preprint coming soon.
- Feb. 2022: Recipient of the IIT Roorkee Heritage Foundation Excellence Award for 2021!
- July 2021: Joined Prof. Jonghyun Choi’s GIST Computer Vision Lab, South Korea (virtually) as a Research Assistant.
- June 2021: Headed to Prof. Fatemeh H. Fard’s lab at UBC, Canada (virtually) to work as a Mitacs Globalink Research Intern.
- Dec. 2020: Selected for the prestigious MITACS Globalink Research Internship 2021!!
- July 2020: Will be working at PandoCorp as a research intern this fall in their machine learning research lab - Pando Labs.
- Mar 2020: Recipient of the IIT Roorkee Heritage Foundation Excellence Award for 2019!
- Apr 2019: Selected for the Quantum Computing summer training organized by QuLabs.
Recent Publications
Quickly discover relevant content by filtering publications.
Geometric Red-Teaming for Robotic Manipulation
Conference on Robot Learning (CoRL) 2025; Oral Presentation (Selection Rate: 5.7%)
SemLayoutDiff: Semantic Layout Generation with Diffusion Model for Indoor Scene Synthesis
International Conference on 3D Vision (3DV) 2026
Semi‑NMF Regularization‑Based Autoencoder Training for Hyperspectral Unmixing
30th National Conference on Communications (NCC'24)
Language Guided Meta Control for Embodied Instruction Following
Embodied AI Workshop @ CVPR 2022. The 2nd Embodied AI Workshop (EAI’ 22)
Experience
Machine Learning Engineer - L2
Adobe
Nov 2023 –
Jul 2024
Bangalore, India
- Worked on the research and development of Adobe’s family of GenAI models - Firefly.
- Designed sampling methods, using Sequential Monte Carlo methods and Langevin Dynamics to generate highly-accurate sampled from large pre-trained diffusion models for several downstream tasks.
Research Assistant
3D Language Group, Simon Fraser University
Jun 2023 –
Jul 2024
Burnaby, Canada (virtually)
- Worked on the research and development of generative models for the task of 3D scene generation.
- Submitted a work proposing a 3D scene layout generation framework (SemLayoutDiff) using a denoising diffusion probabilistic model along with an attribute prediction network to generate semantic layouts using the 3D-FRONT dataset.
- Designed novel cost functions to implicitly impose ergonomic design constraints within the learned space of a diffusion model for the task of 3D scene layout generation.
Deep Learning Researcher
Rephrase AI
Jun 2022 –
Nov 2023
Bangalore, India
- My research focused on (tractable) generative models for speech AI and computer vision.
- Enriched Rephrase.ai’s proprietary video generation pipeline, expanding its global outreach by enhancing avatar capabilities for multilingual applications.
- Collaborated closely with DevOps engineers to efficiently deploy models on AWS, optimizing the generation pipeline to enable the creation of over 100K personalized videos daily.
- Spearheaded a Text‑to‑Speech initiative, developing a voice cloning system from limited speech data. Also devised a speech restoration pipeline to extract clean speech audios of the source speaker from extremely low‑quality / noisy inputs.
Research Assistant
GIST Computer Vision Lab
Jul 2021 –
Dec 2022
Gwangju, South Korea (virtually)
- Authored a publication in EmbodiedAI at extbf{CVPR 2022} and submitted a subsequent paper to a top-tier conference.
- Architected an implicit hierarchical learning system that integrates an auxiliary reasoning loss to enhance cross-modal grounding, enabling embodied agents to learn robust, task-agnostic representations from human dialogue.
- Submitted a work proposing a story‑visualization framework (SMART) using a multi‑stage multi‑modal transformer with in‑memory spatio‑temporal context, and a discretized variational autoencoder.
MITACS Globalink Research Intern
University of British Columbia
Jun 2021 –
Sep 2021
Kelowna, Canada (virtually)
- Published and presented a research paper at ICPC 2022.
- Achieved 140× better parameter budget and ∼95% efficient storage in adapting foundational LLMs to source code.
- Built the Super Code Clone Detection-88 (SCD-88) dataset to evaluate the proposed approach on python-specific code clone detection.
Research and Development Intern
Pando Labs - PandoCorp PLC
Aug 2020 –
Nov 2020
Chennai, India
- I worked on developing a practical Deep Reinforcement Learning solution to optimize shipping costs in the Supply Chain industry.
- Achieved ~85% packing efficiency in 3D bin packing and ~50% cost efficiency in capacitative vehicle routing over existing solutions using off-policy agents in simulated environments.
- Re-architected a heuristic algorithm to improve efficiency and allow parallelised operations on GPUs.
Undergraduate Student Researcher
Machine Vision Lab
Dec 2019 –
Mar 2020
IIT Roorkee
- Worked under the supervision of Prof. Balasubramanian Raman on a project titled - Medical Image Segmentation and Classification Problems.
Achievements
IIT Roorkee Heritage Foundation Excellence Award 2021
IIT Roorkee Heritage Foundation
Feb 2022
- Awarded to 45 students from a pool of over 5000 undergraduates.
- The Excellence Awards recognize students for outstanding academic, co-curricular and extra-curricular achievements.
MITACS Globalink Research Internship
MITACS
Apr 2021
- Selected for the prestigious MITACS Globalink Research Internship 2021 program.
- The Mitacs-SICI partnership awards this research grant to top international undergraduates for a research internship under the supervision of Canadian university faculty members.
IIT Roorkee Heritage Foundation Excellence Award 2019
IIT Roorkee Heritage Foundation
Mar 2020
- Awarded to 45 students from a pool of over 5000 undergraduates.
- The Excellence Awards recognize students for outstanding academic, co-curricular and extra-curricular achievements.
Quantum Computing Summer Training
QuLabs
Apr 2019
- Among the 15 students selected for the Quantum Computing Summer Training - 2019.
- The course comprised of intensive lectures on linear algebra, quantum mechanics and topics in quantum computation including entanglement, multi-qubit computation, quantum key distribution and quantum algorithms.