I am a Robotics graduate from the School of Computer Science (Robotics) at Carnegie Mellon University (Pittsburgh). I specialize in Computer Vision/ Machine Learning, focusing on Autonomous vehicles. I work at Motional (A self-driving car company) as a Tech Lead and Sr. Machine Learning Engineer. In my current role, I am responsible for developing transformer-based state-of-the-art ML/Computer Vision algorithms to build better and faster online perception systems. I, along with my team, ensure that the ML networks I develop are efficient enough to be deployed on our production cars as well. Our networks take multi-modal input and give runtime efficient accurate perception output (Bounding boxes, Segmentation masks, and much more).
Previously, in 2019, I worked at Aptiv as a perception intern. There, I developed a novel deep-learning-based auto-annotation tool for HD Maps. We patented the technology as well. Also, I have worked as a researcher for an autonomous truck collision avoidance project at Carnegie Mellon, sponsored by Daimler Trucks North America. I was responsible for the Perception, Tracking, and Sensor Fusion pipeline. Before coming to CMU, I worked at the RnD division of Maruti Suzuki.
I co-founded a startup at CMU, called Vera and won a small NSF grant from a business competition.
I have several patents and published research papers, mostly first authored. I also believe in giving back to the Machine Learning research community through research paper reviews and keynote tutorial sessions. When I am not doing Machine Learning, I read content on human psychology, financial investments, the Future of humanity, and macroeconomics.
Education
Carnegie Mellon University
Master’s in Robotics, School of Computer Science (2018-2020)
Specialized in Artificial Intelligence, Computer Vision, Computer Science, and Robotics.
Delhi Technological University
Bachelor’s in Technology (2011-2015)
Specialized in Artificial Intelligence and Robotics
Professional Experience
Motional (2020-Present), California USA
Tech Lead and Sr. Machine Learning Engineer (Perception)
Tech lead of 5 Machine Learning and Robotics engineers and interns to develop a state-of-the-art vision network that runs in real-time on-car. This network uses eight surround-view cameras and predicts agents in the 3D world. Authored a blog for this project, published on Motional’s portal
Deployed numerous Vision-first Deep Learning models on-car using TensorRT optimizations.
Managed Reading Group and ML literature surveys within a team of 40+ Perception Engineers.
Co-authored 13 patents and 9 selected research papers in computer vision and computer science domains.
Aptiv (Summer’19), Pennsylvania USA
Perception Intern (AI)
Developed segmentation algorithm for road intersections to auto-annotate H.D. Maps by fusing images and LiDAR intensity maps. This Project led to a patent, too.
The Success of this internship project led to the forming of a team of three full-time software engineers.
Daimler Trucks North America (2018-2020), Oregon USA
Research Collaborator (Perception Lead)
Developed a reliable high-speed on-coming collision prevention system on CARLA sim for country roads.
Vera (Fall’ 2019), Pennsylvania USA
Co-founder
Developed an AI assistant for lawyers, to help with paralegal tasks. Won an NSF grant through business competition at Carnegie Mellon.
Maruti Suzuki (2015-2018), India
Assistant Manager, Research and Development
Led a smart mobility project and cross-collaborated with Homologation teams and Japanese researchers.
MSSL Global RSA (Summer’13), South Africa
Summer intern
Developed a computer vision-based part detection and quality insurance tool that helped save on the downtime of a 6 degrees of freedom robotic arm at the paint shop.
Patents
MACHINE LEARNING - BASED FRAMEWORK FOR DRIVABLE SURFACE ANNOTATION
Inventors: Sergi Adipraja Widjaja, Venice Erin Baylon Liong, Zhuang Jie Chong, Apoorv Singh
TRAINING MACHINE LEARNING NETWORKS FOR CONTROLLING VEHICLE OPERATION
Inventors: Apoorv Singh, Varun Kumar Reddy Bankiti
Application number: US 18/141,014
MACHINE LEARNING-BASED FRAMEWORK FOR DRIVABLE SURFACE ANNOTATION
Inventors: Sergi, Venice, Zhuang, Apoorv Singh
ENRICHING FEATURE MAPS USING MULTIPLE PLURALITIES OF WINDOWS TO GENERATE BOUNDING BOXES
Inventors: Jongwoo, Apoorv Singh, Varun
ENRICHING OBJECT QUERIES USING A BIRD’S-EYE VIEW FEATURE MAP TO GENERATE BOUNDING BOXES
Inventors: Jongwoo, Apoorv Singh, Varun
ENRICHING FEATURE MAPS USING MULTIPLE PLURALITIES OF WINDOWS TO GENERATE BOUNDING BOXES
Inventors: Jongwoo, Apoorv Singh, Varun
Inventors: Application number: PCT/US2023/072389
AGGREGATION OF DATA REPRESENTING GEOGRAPHICAL AREAS
Inventors: Apoorv Singh, Varun, Jeongil, Akankshya
ITERATIVE DEPTH ESTIMATION
Inventors: Akankshya, Apoorv Singh, Varun
Application number: US 18/163,708
MULTI-MODAL SENSOR-BASED NAVIGATION USING BOUNDING BOXES
Inventors: Apoorv Singh
Application number: PCT/US2023/018569
Vision-RADAR fusion for DETR-like 3D detections
Inventors: Apoorv Singh, Varun
SCENE-DEPENDENT OBJECT QUERY INITIALIZATION STRATEGY USING TEMPORAL CONSISTENCIES
Inventors: Apoorv Singh, Varun
Augment Bird’s Eye multi-view-Camera detections with Perspective View detections
Inventors: Apoorv Singh
Application number: US 63/470,125
Surround-Vision & RADAR fusion strategy using Transformers
Inventors: Apoorv Singh
Application number: US 63/505,385
Research Publications
Surround-view vision-based 3d detection for autonomous driving: A survey. Paper Link
Authors: Apoorv Singh
Conference: 2023 IEEE/CVF International Conference on Computer Vision Workshops (ICCVW)
Vision-radar fusion for robotics bev detections: A survey. Paper Link
Authors: Apoorv Singh
Conference: 2023 IEEE Intelligent Vehicles Symposium (IV)
Transformer-based sensor fusion for autonomous driving: A survey. Paper Link
Authors: Apoorv Singh
Conference: Proceedings of the IEEE/CVF International Conference on Computer Vision
Training Strategies for Vision Transformers for Object Detection. Paper Link
Authors: Apoorv Singh
Conference: Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition
3m3d: Multi-view, multi-path, multi-representation for 3d object detection. Paper Link
Authors: J Park, Apoorv Singh, V Bankiti
Conference: 2023 IEEE International Conference on Image Processing (ICIP), 1930-1934
A Review on Objective-Driven Artificial Intelligence. Paper Link
Authors: Apoorv Singh
Conference: arXiv preprint arXiv:2308.10135
End-to-end Autonomous Driving using Deep Learning: A Systematic Review. Paper Link
Authors: Apoorv Singh
Conference: arXiv preprint arXiv:2311.18636
Trajectory-Prediction with Vision: A Survey. Paper Link
Authors: Apoorv Singh
Conference: Proceedings of the IEEE/CVF International Conference on Computer Vision
Multi-agent Collaborative Perception for Robotic Fleet: A Systematic Review. Paper Link
Authors: Apoorv Singh, G Raut, A Choudhary
Conference: Accepted in ECCV’24 (Conference yet to happen)
Generative AI in Vision: A Survey on Models, Metrics and Applications. Paper Link
Authors: G Raut, Apoorv Singh
Conference: arXiv preprint arXiv:2402.16369
Traffic Policeman Gesture Recognition With Spatial Temporal Graph Convolution Network. Paper Link
Authors: Apoorv Singh, A Choudhary
Conference: 2023 IEEE Conference on Artificial Intelligence (CAI), 40-41
Augmenting Vision Queries with RADAR for BEV Detection in Autonomous Driving. Paper Link
Authors: Apoorv Singh
Conference: 2023 IEEE Conference on Artificial Intelligence (CAI), 53-54
AI Community Contributions
Publication Peer-Review
Location: NeurIPS’23, CVPR’23, ICRA’22, ICML’22, ICCV’23, IEEE CAI’23, AAAI’23 and lots more, totalling ~85.
Master’s Admission Committee
Location: Robotics Institute, Carnegie Mellon University
Years: 2023, 2024, 2025.
Technical Judge
Location: Pittsburgh Regional Science & Engineering Fair, 2023
Technical Judge
Location: FIRST Robotics Competition, 2023
Conference Program Chairs
Location: NeurIPS 2022, CVPR’23 Precognition Workshop, AAAI-2023
Keynote/ Panel Sessions
Keynote: Vision-based Perception for Autonomous Driving Link
Location: IV 2023, Alaska, USA
Keynote: Vision-based Perception for Autonomous Driving Link
Location: IV 2024, Jeju Islands, Korea
Keynote: 1st Workshop on Cooperative Intelligence for Embodied AI Link
Location: European Conference on Computer Vision 2024 in Milan, Italy
Workshop Organizer. Link
Location: 2023 IEEE Conference on Artificial Intelligence (IEEE CAI)
Organized a workshop on autonomous vehicles with a panel discussion and two guest lecturers in Santa Clara, California, to promote research on Autonomous driving.
Panelist on Session on AI for Autonomous Driving. Link
Co-panelists: Shivam Gautam, Fang-Chieh Chou, Aleksandr Petiushko, Sachithra Hemachandra
Location: 2023 IEEE Conference on Artificial Intelligence (IEEE CAI)