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Learning Perceptual Concepts by Bootstrapping from Human Queries

Nov 09, 2021
Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox

* 7 pages, 7 figures 

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Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior

Sep 21, 2021
Karl Van Wyk, Mandy Xie, Anqi Li, Muhammad Asif Rana, Buck Babich, Bryan Peele, Qian Wan, Iretiayo Akinola, Balakumar Sundaralingam, Dieter Fox, Byron Boots, Nathan D. Ratliff

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DefGraspSim: Simulation-based grasping of 3D deformable objects

Jul 12, 2021
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox

* 11 pages, 19 figures. For associated website and code repository, see and Published in DO-Sim: Workshop on Deformable Object Simulation in Robotics at Robotics: Science and Systems (RSS) 2021 

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Fast Joint Space Model-Predictive Control for Reactive Manipulation

Apr 28, 2021
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan Ratliff, Dieter Fox, Fabio Ramos, Byron Boots

* 12 pages 

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Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections

Mar 31, 2021
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox

* To be published in Proc. IEEE International Conference on Robotics and Automation (ICRA) 

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Interpreting and Predicting Tactile Signals for the SynTouch BioTac

Jan 14, 2021
Yashraj S. Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox

* Submitted to International Journal of Robotics Research (IJRR) 

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Joint Space Control via Deep Reinforcement Learning

Nov 12, 2020
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield

* Submitted to ICRA 2021 

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In-Hand Object-Dynamics Inference using Tactile Fingertips

Mar 30, 2020
Balakumar Sundaralingam, Tucker Hermans

* under review at T-RO 

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Multi-Fingered Grasp Planning via Inference in Deep Neural Networks

Jan 25, 2020
Qingkai Lu, Mark Van der Merwe, Balakumar Sundaralingam, Tucker Hermans

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Benchmarking In-Hand Manipulation

Jan 09, 2020
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic

* Accepted to Robotics Automation and Letters (RA-L) 

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Learning Continuous 3D Reconstructions for Geometrically Aware Grasping

Oct 02, 2019
Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam, Martin Matak, Tucker Hermans

* Submitted to IEEE Conference on Robotics and Automation 2020 (ICRA) 

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Learning Latent Space Dynamics for Tactile Servoing

Apr 15, 2019
Giovanni Sutanto, Nathan Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox

* Accepted to be published at the International Conference on Robotics and Automation (ICRA) 2019. The final version for publication at ICRA 2019 is 7 pages (i.e. 6 pages of technical content (including text, figures, tables, acknowledgement, etc.) and 1 page of the Bibliography/References), while this arXiv version is 8 pages (added Appendix and some extra details) 

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Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing

Mar 08, 2019
Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan Ratliff, Byron Boots, Dieter Fox

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Robust Learning of Tactile Force Estimation through Robot Interaction

Mar 05, 2019
Balakumar Sundaralingam, Alexander Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan Ratliff, Dieter Fox

* accepted to ICRA 2019 (camera ready version) 

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Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects

Sep 27, 2018
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield

* Conference on Robot Learning (CoRL) 2018 

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Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulation

Jun 09, 2018
Balakumar Sundaralingam, Tucker Hermans

* Accepted draft to Autonomous Robots 

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Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation

Apr 12, 2018
Balakumar Sundaralingam, Tucker Hermans

* Accepted at ICRA 2018 

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Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network

Apr 10, 2018
Qingkai Lu, Kautilya Chenna, Balakumar Sundaralingam, Tucker Hermans

* International Symposium on Robotics Research (ISRR) 2017. Project page: . Video link: 

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