Balakumar Sundaralingam

According to our database, Balakumar Sundaralingam authored at least 37 papers between 2017 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of four.

2024

DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning.

Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox

CoRR, 2024

2023

CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation.

Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Reed Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan D. Ratliff, Dieter Fox

CoRR, 2023

Diff-DOPE: Differentiable Deep Object Pose Estimation.

Jonathan Tremblay, Bowen Wen, Valts Blukis, Balakumar Sundaralingam, Stephen Tyree, Stan Birchfield

CoRR, 2023

Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation.

Constantinos Chamzas, Caelan Reed Garrett, Balakumar Sundaralingam, Lydia E. Kavraki, Dieter Fox

CoRR, 2023

VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning.

Yu-Shun Hsiao, Siva Kumar Sastry Hari, Balakumar Sundaralingam, Jason Yik, Thierry Tambe, Charbel Sakr, Stephen W. Keckler, Vijay Janapa Reddi

IROS, 2023

RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control.

Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles T. Loop, Alexander G. Schwing, Stan Birchfield

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

CuRobo: Parallelized Collision-Free Robot Motion Generation.

Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman, Caelan Reed Garrett, Karl Van Wyk, Valts Blukis, Alexander Millane, Helen Oleynikova, Ankur Handa, Fabio Ramos, Nathan D. Ratliff, Dieter Fox

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality.

Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj S. Narang

Proceedings of the IEEE International Conference on Robotics and Automation, 2023

Ready, Set, Plan! Planning to Goal Sets Using Generalized Bayesian Inference.

Jana Pavlasek, Stanley Robert Lewis, Balakumar Sundaralingam, Fabio Ramos, Tucker Hermans

Proceedings of the Conference on Robot Learning, 2023

2022

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

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

IEEE Robotics Autom. Lett., 2022

DefGraspSim: Physics-Based Simulation of Grasp Outcomes for 3D Deformable Objects.

Isabella Huang, Yashraj S. Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox

IEEE Robotics Autom. Lett., 2022

Learning Perceptual Concepts by Bootstrapping From Human Queries.

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

IEEE Robotics Autom. Lett., 2022

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality.

Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj S. Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State

CoRR, 2022

Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions.

Yun-Chun Chen, Adithyavairavan Murali, Balakumar Sundaralingam, Wei Yang, Animesh Garg, Dieter Fox

CoRR, 2022

Correcting Robot Plans with Natural Language Feedback.

Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox

Proceedings of the Robotics: Science and Systems XVIII, New York City, NY, USA, June 27, 2022

Model Predictive Control for Fluid Human-to-Robot Handovers.

Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers.

Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

2021

In-Hand Object-Dynamics Inference Using Tactile Fingertips.

Balakumar Sundaralingam, Tucker Hermans

IEEE Trans. Robotics, 2021

Interpreting and predicting tactile signals for the SynTouch BioTac.

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

Int. J. Robotics Res., 2021

DefGraspSim: Simulation-based grasping of 3D deformable objects.

Isabella Huang, Yashraj S. Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox

CoRR, 2021

Fast Joint Space Model-Predictive Control for Reactive Manipulation.

Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots

CoRR, 2021

Joint Space Control via Deep Reinforcement Learning.

Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2021

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

Yashraj S. Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation.

Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots

Proceedings of the Conference on Robot Learning, 8-11 November 2021, London, UK., 2021

2020

Kinematic Planning and Dynamics Inference for In-Hand Manipulation.

Balakumar Sundaralingam

PhD thesis, 2020

Multifingered Grasp Planning via Inference in Deep Neural Networks: Outperforming Sampling by Learning Differentiable Models.

Qingkai Lu, Mark Van der Merwe, Balakumar Sundaralingam, Tucker Hermans

IEEE Robotics Autom. Mag., 2020

Benchmarking In-Hand Manipulation.

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

IEEE Robotics Autom. Lett., 2020

Multi-Fingered Grasp Planning via Inference in Deep Neural Networks.

Qingkai Lu, Mark Van der Merwe, Balakumar Sundaralingam, Tucker Hermans

CoRR, 2020

Learning Continuous 3D Reconstructions for Geometrically Aware Grasping.

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

Proceedings of the 2020 IEEE International Conference on Robotics and Automation, 2020

2019

Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation.

Balakumar Sundaralingam, Tucker Hermans

Auton. Robots, 2019

Learning Latent Space Dynamics for Tactile Servoing.

Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox

Proceedings of the International Conference on Robotics and Automation, 2019

Robust Learning of Tactile Force Estimation through Robot Interaction.

Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox

Proceedings of the International Conference on Robotics and Automation, 2019

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

Alexander Sasha Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan D. Ratliff, Byron Boots, Dieter Fox

Proceedings of the International Conference on Robotics and Automation, 2019

2018

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

Balakumar Sundaralingam, Tucker Hermans

Proceedings of the 2018 IEEE International Conference on Robotics and Automation, 2018

Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects.

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

Proceedings of the 2nd Annual Conference on Robot Learning, 2018

2017

Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization.

Balakumar Sundaralingam, Tucker Hermans

Proceedings of the Robotics: Science and Systems XIII, 2017

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

Qingkai Lu, Kautilya Chenna, Balakumar Sundaralingam, Tucker Hermans

Proceedings of the Robotics Research, The 18th International Symposium, 2017