Swayam Agrawal

I am a PreDoctoral Researcher at Google DeepMind, in the Machine Learning & Optimization team where I work on Gemini and compute-efficient visual generative models. I am currently working with Prateek Jain, Sujoy Paul, and Aditya Kusupati.

I received my Bachelor's degree in Computer Science and Engineering from with Honors from IIIT Hyderabad. As an undergraduate, I was fortunate to work broadly on Robotics, and Computer Vision alongside Prof. Madhava Krishna and Dr. Sourav Garg at the Robotics Research Center.

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Research

My research interests, rooted in the philosophy that the local unit of intelligence is FLOPS, span large model efficiency and elasticity (e.g., sparsity, adaptive compute), as well as representation learning, multimodal systems, and visual generative models.

Publications

SegMASt3R: Geometry Grounded Segment Matching

In this work, we establish image segment matching as a benchmark task & we propose a novel model architecture which enables high performance downstream on 3D Instance Mapping & Object-Relative Navigation. Segment matching is an important intermediate task in computer vision that establishes correspondences between semantically or geometrically coherent regions across images. While 2D Foundation models (e.g, DINOv2, SAM2) outperform a 3D foundation model (MASt3R) off-the-shelf for this task, fine-tuning both with a simple segment-matching head alongside SuperGlue style matching results in a surprising trend inversion with SegMASt3R achieving state-of-the-art performance, proving that explicit geometric reasoning is essential.

O3D-SIM: Open-set 3D semantic instance maps for vision language navigation

In this work, we extend instance-level semantic mapping to 3D. Using foundational models for object recognition, segmentation, and feature extraction, it creates a 3D point cloud with instance-level embeddings that enable language-guided navigation and object queries. The method improves both quantitative task success rates and qualitative instance identification, outperforming closed-set approaches in recognizing unseen objects.

* denotes equal contribution

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