Rahul Sajnani

I am a Computer Science Ph.D. Candidate at Brown University advised by Srinath Sridhar. My current research interests revolves around understanding and manipulating implicit learnt representations of foundational models such as Stable Diffusion, Video Diffusion Models, CLIP, and DinoV2 to extend their capabilities for geometry editing, novel view synthesis, scene reconstruction, and motion control!

My research also delves into estimating canonical representations of objects [1,2,3] and modeling their inter-object interactions [4]. Prior to object understanding, I have also worked on visual localization of automobiles for SLAM [5] and improving mapping for autonomous driving at RRC, IIIT-Hyderabad.

I am fortunate to be advised by Leonidas Guibas, George Konidaris, Daniel Ritchie, Jeroen Vanbaar, Kapil Katyal, K. Madhava Krishna and Kavita Vemuri.

Google Scholar / Email / GitHub / X / Linkedin / ResearchGate

Featured News

Oct 28, 2024	Our work GeoDiffuser is accepted to WACV 2025 ! See you in Arizona! We perform geometry-based image editing with T2I diffusion models without any training or model / fine-tuning.
Oct 24, 2024	I will present literature on Video Diffusion Models with a focus on camera/motion conditioned models at Brown IVL & BVC. See slides here.
Apr 01, 2024	I will present GeoDiffuser, a method to perform geometry-based image editing with T2I diffusion models at NYC Computer Vision Day. Our work does not need any training or model fine-tuning!
Jun 24, 2023	I will join Amazon Robotics as an Applied Scientist to improve robot perception and item identification using Generative models.
Jun 20, 2023	Check out our works Cafi-Net & Lego-Net at CVPR 2023!
Jun 01, 2022	We will be presenting ConDor, a method to perform unsupervised 3D pose canonicalization of full and partial shapes at CVPR 2022. Our work also performs automatic co-part segmentation!

Featured Publications

GeoDiffuser: Geometry-Based Image Editing with Diffusion Models

Rahul Sajnani, Jeroen Vanbaar, Jie Min, Kapil Katyal, and Srinath Sridhar

In Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV), 2025

arXiv webpage Bib

@inproceedings{sajnani2024geodiffusergeometrybasedimageediting,
  title = {GeoDiffuser: Geometry-Based Image Editing with Diffusion Models},
  author = {Sajnani, Rahul and Vanbaar, Jeroen and Min, Jie and Katyal, Kapil and Sridhar, Srinath},
  year = {2025},
  booktitle = {Proceedings of the IEEE/CVF Winter Conference on Applications of Computer Vision (WACV)},
  eprint = {2404.14403},
  archiveprefix = {arXiv},
  primaryclass = {cs.CV},
  url = {https://arxiv.org/abs/2404.14403},
  webpage = {https://ivl.cs.brown.edu/research/geodiffuser.html}
}

Canonical Fields: Self-Supervised Learning of Pose-Canonicalized Neural Fields

Rohith Agaram, Shaurya Dewan, Rahul Sajnani, Adrien Poulenard, Madhava Krishna, and Srinath Sridhar

In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Jun 2023

arXiv webpage Bib Code

@inproceedings{Agaram_2023_CVPR,
  author = {Agaram, Rohith and Dewan, Shaurya and Sajnani, Rahul and Poulenard, Adrien and Krishna, Madhava and Sridhar, Srinath},
  title = {Canonical Fields: Self-Supervised Learning of Pose-Canonicalized Neural Fields},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  month = jun,
  year = {2023},
  pages = {4500-4510},
  webpage = {https://ivl.cs.brown.edu/research/canonical-fields.html},
}

LEGO-Net: Learning Regular Rearrangements of Objects in Rooms

Qiuhong Anna Wei, Sijie Ding, Jeong Joon Park, Rahul Sajnani, Adrien Poulenard, Srinath Sridhar, and Leonidas Guibas

In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Jun 2023

arXiv webpage Bib Code

@inproceedings{Wei_2023_CVPR,
  author = {Wei, Qiuhong Anna and Ding, Sijie and Park, Jeong Joon and Sajnani, Rahul and Poulenard, Adrien and Sridhar, Srinath and Guibas, Leonidas},
  title = {LEGO-Net: Learning Regular Rearrangements of Objects in Rooms},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  month = jun,
  year = {2023},
  pages = {19037-19047},
  webpage = {https://ivl.cs.brown.edu/research/lego-net.html},
}

ConDor: Self-Supervised Canonicalization of 3D Pose for Partial Shapes

Rahul Sajnani, Adrien Poulenard, Jivitesh Jain, Radhika Dua, Leonidas J. Guibas, and Srinath Sridhar

In Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR), Jun 2022

arXiv webpage Bib Code

@inproceedings{Sajnani_2022_CVPR,
  author = {Sajnani, Rahul and Poulenard, Adrien and Jain, Jivitesh and Dua, Radhika and Guibas, Leonidas J. and Sridhar, Srinath},
  title = {ConDor: Self-Supervised Canonicalization of 3D Pose for Partial Shapes},
  booktitle = {Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition (CVPR)},
  month = jun,
  year = {2022},
  pages = {16969-16979},
  webpage = {https://ivl.cs.brown.edu/ConDor/},
}

DRACO: Weakly Supervised Dense Reconstruction And Canonicalization of Objects

Rahul Sajnani, AadilMehdi J. Sanchawala, Krishna Murthy Jatavallabhula, Srinath Sridhar, and K. Madhava Krishna

2021 IEEE International Conference on Robotics and Automation (ICRA), Jun 2021

arXiv Bib Code

@article{Sajnani2020DRACOWS,
  title = {DRACO: Weakly Supervised Dense Reconstruction And Canonicalization of Objects},
  author = {Sajnani, Rahul and Sanchawala, AadilMehdi J. and Jatavallabhula, Krishna Murthy and Sridhar, Srinath and Krishna, K. Madhava},
  journal = {2021 IEEE International Conference on Robotics and Automation (ICRA)},
  year = {2021},
  pages = {10302-10309},
  url = {https://api.semanticscholar.org/CorpusID:227161908},
}

Multi-object Monocular SLAM for Dynamic Environments

Gokul B. Nair, Swapnil Daga, Rahul Sajnani, Anirudh Ramesh, Junaid Ahmed Ansari, and K. Madhava Krishna

2020 IEEE Intelligent Vehicles Symposium (IV), Jun 2020

arXiv Bib

@article{Nair2020MultiobjectMS,
  title = {Multi-object Monocular SLAM for Dynamic Environments},
  author = {Nair, Gokul B. and Daga, Swapnil and Sajnani, Rahul and Ramesh, Anirudh and Ansari, Junaid Ahmed and Krishna, K. Madhava},
  journal = {2020 IEEE Intelligent Vehicles Symposium (IV)},
  year = {2020},
  pages = {651-657},
  url = {https://api.semanticscholar.org/CorpusID:211069692},
}