Mustafa Mukadam

According to our database, Mustafa Mukadam authored at least 52 papers between 2014 and 2024.

Collaborative distances:

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

2024

NeuralFeels with neural fields: Visuotactile perception for in-hand manipulation.

Sudharshan Suresh, Haozhi Qi, Tingfan Wu, Taosha Fan, Luis Pineda, Mike Lambeta, Jitendra Malik, Mrinal Kalakrishnan, Roberto Calandra, Michael Kaess, Joseph Ortiz, Mustafa Mukadam

Sci. Robotics, 2024

Sparsh: Self-supervised touch representations for vision-based tactile sensing.

Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri, Taosha Fan, Patrick Lancaster, Mrinal Kalakrishnan, Michael Kaess, Byron Boots, Mike Lambeta, Tingfan Wu, Mustafa Mukadam

CoRR, 2024

A Touch, Vision, and Language Dataset for Multimodal Alignment.

Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg

Proceedings of the Forty-first International Conference on Machine Learning, 2024

2023

Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation.

Sudharshan Suresh, Haozhi Qi, Tingfan Wu, Taosha Fan, Luis Pineda, Mike Lambeta, Jitendra Malik, Mrinal Kalakrishnan, Roberto Calandra, Michael Kaess, Joseph Ortiz, Mustafa Mukadam

CoRR, 2023

Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies.

Carolina Higuera, Joseph Ortiz, Haozhi Qi, Luis Pineda, Byron Boots, Mustafa Mukadam

CoRR, 2023

Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models.

Carolina Higuera, Byron Boots, Mustafa Mukadam

CoRR, 2023

Decentralization and Acceleration Enables Large-Scale Bundle Adjustment.

Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd D. Murphey, Mustafa Mukadam

Proceedings of the Robotics: Science and Systems XIX, Daegu, 2023

TaskMet: Task-driven Metric Learning for Model Learning.

Dishank Bansal, Ricky T. Q. Chen, Mustafa Mukadam, Brandon Amos

Proceedings of the Advances in Neural Information Processing Systems 36: Annual Conference on Neural Information Processing Systems 2023, 2023

USA-Net: Unified Semantic and Affordance Representations for Robot Memory.

Benjamin Bolte, Austin S. Wang, Jimmy Yang, Mustafa Mukadam, Mrinal Kalakrishnan, Chris Paxton

IROS, 2023

Neural Grasp Distance Fields for Robot Manipulation.

Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam

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

Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing.

Carolina Higuera, Siyuan Dong, Byron Boots, Mustafa Mukadam

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

2022

iSDF: Real-Time Neural Signed Distance Fields for Robot Perception.

Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotný, Michael Zollhöfer, Mustafa Mukadam

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

Theseus: A Library for Differentiable Nonlinear Optimization.

Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky T. Q. Chen, Joseph Ortiz, Daniel DeTone, Austin S. Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam

Proceedings of the Advances in Neural Information Processing Systems 35: Annual Conference on Neural Information Processing Systems 2022, 2022

PatchGraph: In-hand tactile tracking with learned surface normals.

Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

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

In-Hand Gravitational Pivoting Using Tactile Sensing.

Jason Toskov, Rhys Newbury, Mustafa Mukadam, Dana Kulic, Akansel Cosgun

Proceedings of the Conference on Robot Learning, 2022

MidasTouch: Monte-Carlo inference over distributions across sliding touch.

Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, Mustafa Mukadam

Proceedings of the Conference on Robot Learning, 2022

2021

RMPflow: A Geometric Framework for Generation of Multitask Motion Policies.

Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff

IEEE Trans Autom. Sci. Eng., 2021

LEO: Learning Energy-based Models in Graph Optimization.

Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess

CoRR, 2021

Habitat 2.0: Training Home Assistants to Rearrange their Habitat.

Andrew Szot, Alexander Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John M. Turner, Noah Maestre, Mustafa Mukadam, Devendra Singh Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel X. Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, Dhruv Batra

Proceedings of the Advances in Neural Information Processing Systems 34: Annual Conference on Neural Information Processing Systems 2021, 2021

No RL, No Simulation: Learning to Navigate without Navigating.

Meera Hahn, Devendra Singh Chaplot, Shubham Tulsiani, Mustafa Mukadam, James M. Rehg, Abhinav Gupta

Proceedings of the Advances in Neural Information Processing Systems 34: Annual Conference on Neural Information Processing Systems 2021, 2021

Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning.

Kalyan Vasudev Alwala, Mustafa Mukadam

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

Learning Tactile Models for Factor Graph-based Estimation.

Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

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

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

Rogerio Bonatti, Arthur Bucker, Sebastian A. Scherer, Mustafa Mukadam, Jessica K. Hodgins

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

Where2Act: From Pixels to Actions for Articulated 3D Objects.

Kaichun Mo, Leonidas J. Guibas, Mustafa Mukadam, Abhinav Gupta, Shubham Tulsiani

Proceedings of the 2021 IEEE/CVF International Conference on Computer Vision, 2021

Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation.

Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd D. Murphey, Mustafa Mukadam

Proceedings of the 2021 IEEE/CVF International Conference on Computer Vision, 2021

LEO: Learning Energy-based Models in Factor Graph Optimization.

Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess

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

Taskography: Evaluating robot task planning over large 3D scene graphs.

Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, Florian Shkurti

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

A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation.

Bernardo Aceituno-Cabezas, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam

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

2020

Learning Tactile Models for Factor Graph-based State Estimation.

Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

CoRR, 2020

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

Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff

CoRR, 2020

Neural Dynamic Policies for End-to-End Sensorimotor Learning.

Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, Deepak Pathak

Proceedings of the Advances in Neural Information Processing Systems 33: Annual Conference on Neural Information Processing Systems 2020, 2020

Encoding Physical Constraints in Differentiable Newton-Euler Algorithm.

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

Proceedings of the 2nd Annual Conference on Learning for Dynamics and Control, 2020

Differentiable Gaussian Process Motion Planning.

Mohak Bhardwaj, Byron Boots, Mustafa Mukadam

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

2019

Structured learning and inference for robot motion generation.

Mustafa Mukadam

PhD thesis, 2019

STEAP: simultaneous trajectory estimation and planning.

Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots

Auton. Robots, 2019

Multi-objective Policy Generation for Multi-robot Systems Using Riemannian Motion Policies.

Anqi Li, Mustafa Mukadam, Magnus Egerstedt, Byron Boots

Proceedings of the Robotics Research, 2019

Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference.

Keshav Kolur, Sahit Chintalapudi, Byron Boots, Mustafa Mukadam

Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 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

Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations.

Muhammad Asif Rana, Anqi Li, Harish Ravichandar, Mustafa Mukadam, Sonia Chernova, Dieter Fox, Byron Boots, Nathan D. Ratliff

Proceedings of the 3rd Annual Conference on Robot Learning, 2019

Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping.

Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan D. Ratliff

Proceedings of the 3rd Annual Conference on Robot Learning, 2019

2018

Continuous-time Gaussian process motion planning via probabilistic inference.

Mustafa Mukadam, Jing Dong, Xinyan Yan, Frank Dellaert, Byron Boots

Int. J. Robotics Res., 2018

RMPflow: A Computational Graph for Automatic Motion Policy Generation.

Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff

CoRR, 2018

RMP<i>flow</i>: A Computational Graph for Automatic Motion Policy Generation.

Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff

Proceedings of the Algorithmic Foundations of Robotics XIII, 2018

Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments.

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

Proceedings of the 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2018

Sparse Gaussian Processes on Matrix Lie Groups: A Unified Framework for Optimizing Continuous-Time Trajectories.

Jing Dong, Mustafa Mukadam, Byron Boots, Frank Dellaert

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

2017

Simultaneous Trajectory Estimation and Planning via Probabilistic Inference.

Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots

Proceedings of the Robotics: Science and Systems XIII, 2017

Approximately optimal continuous-time motion planning and control via Probabilistic Inference.

Mustafa Mukadam, Ching-An Cheng, Xinyan Yan, Byron Boots

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Motion planning with graph-based trajectories and Gaussian process inference.

Eric Huang, Mustafa Mukadam, Zhen Liu, Byron Boots

Proceedings of the 2017 IEEE International Conference on Robotics and Automation, 2017

Towards Robust Skill Generalization: Unifying Learning from Demonstration and Motion Planning.

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

Proceedings of the 1st Annual Conference on Robot Learning, CoRL 2017, Mountain View, 2017

2016

Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs.

Jing Dong, Mustafa Mukadam, Frank Dellaert, Byron Boots

Proceedings of the Robotics: Science and Systems XII, University of Michigan, Ann Arbor, Michigan, USA, June 18, 2016

Gaussian Process Motion planning.

Mustafa Mukadam, Xinyan Yan, Byron Boots

Proceedings of the 2016 IEEE International Conference on Robotics and Automation, 2016

2014

Quasi-static manipulation of a planar elastic rod using multiple robotic grippers.

Mustafa Mukadam, Andy Borum, Timothy Bretl

Proceedings of the 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014