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Where2Act: From Pixels to Actions for Articulated 3D Objects


Jan 07, 2021
Kaichun Mo, Leonidas Guibas, Mustafa Mukadam, Abhinav Gupta, Shubham Tulsiani


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Learning Tactile Models for Factor Graph-based State Estimation


Dec 07, 2020
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

* Submitted to the IEEE International Conference on Robotics and Automation (ICRA) 2021 

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Neural Dynamic Policies for End-to-End Sensorimotor Learning


Dec 04, 2020
Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, Deepak Pathak

* NeurIPS 2020 (Spotlight). Code and videos at https://shikharbahl.github.io/neural-dynamic-policies/ 

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Batteries, camera, action! Learning a semantic control space for expressive robot cinematography


Nov 19, 2020
Rogerio Bonatti, Arthur Bucker, Sebastian Scherer, Mustafa Mukadam, Jessica Hodgins


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Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning


Nov 13, 2020
Kalyan Vasudev Alwala, Mustafa Mukadam


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RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies


Jul 25, 2020
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

* arXiv admin note: substantial text overlap with arXiv:1811.07049 

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Encoding Physical Constraints in Differentiable Newton-Euler Algorithm


Feb 19, 2020
Giovanni Sutanto, Austin S. Wang, Yixin Lin, Mustafa Mukadam, Gaurav Sukhatme, Akshara Rai, Franziska Meier

* 10 pages (i.e. 8 pages of technical content and 2 pages of the Bibliography/References), submitted and currently under review for publication at the 2nd Learning for Dynamics and Control (L4DC) Conference, year 2020 

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Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping


Oct 08, 2019
Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan Ratliff

* Conference on Robot Learning (CoRL), 2019 

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Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference


Aug 01, 2019
Keshav Kolur, Sahit Chintalapudi, Byron Boots, Mustafa Mukadam

* Accepted to the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2019. 7 pages, 6 figures 

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Differentiable Gaussian Process Motion Planning


Jul 22, 2019
Mohak Bhardwaj, Byron Boots, Mustafa Mukadam

* 10 pages 

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RMPflow: A Computational Graph for Automatic Motion Policy Generation


Apr 05, 2019
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan Ratliff

* WAFR 2018 

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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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Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies


Feb 16, 2019
Anqi Li, Mustafa Mukadam, Magnus Egerstedt, Byron Boots


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Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference


Nov 22, 2018
Mustafa Mukadam, Jing Dong, Xinyan Yan, Frank Dellaert, Byron Boots

* The International Journal of Robotics Research (IJRR), 2018, Volume 37, Issue 11 

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Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments


Aug 04, 2018
Muhammad Asif Rana, Mustafa Mukadam, Seyed Reza Ahmadzadeh, Sonia Chernova, Byron Boots

* 6 pages, 9 figures, accepted in International Conference on Intelligent Robots & Systems (IROS), 2018 

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STEAP: simultaneous trajectory estimation and planning


Jul 27, 2018
Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots

* Published in Autonomous Robots 

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Approximately Optimal Continuous-Time Motion Planning and Control via Probabilistic Inference


Feb 27, 2017
Mustafa Mukadam, Ching-An Cheng, Xinyan Yan, Byron Boots

* minor fixes and typos 

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