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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: https://robot-learning.cs.utah.edu/project/grasp_inference . Video link: https://youtu.be/7Sg1uw_szlw 

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