Balakumar Sundaralingam

Publication Activity (10 Years)

Years Active: 2017-2023
Publications (10 Years): 56

Top Topics

Predictive Control

Probabilistic Inference

Collision Avoidance

Top Venues

IEEE Robotics Autom. Lett.

Publications

Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj S. Narang
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. ICRA (2023)
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
CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation. CoRR (2023)
Yu-Shun Hsiao, Siva Kumar Sastry Hari, Balakumar Sundaralingam, Jason Yik, Thierry Tambe, Charbel Sakr, Stephen W. Keckler, Vijay Janapa Reddi
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning. IROS (2023)
Yu-Shun Hsiao, Siva Kumar Sastry Hari, Balakumar Sundaralingam, Jason Yik, Thierry Tambe, Charbel Sakr, Stephen W. Keckler, Vijay Janapa Reddi
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning. CoRR (2023)
Jana Pavlasek, Stanley Robert Lewis, Balakumar Sundaralingam, Fabio Ramos, Tucker Hermans
Ready, Set, Plan! Planning to Goal Sets Using Generalized Bayesian Inference. CoRL (2023)
Jonathan Tremblay, Bowen Wen, Valts Blukis, Balakumar Sundaralingam, Stephen Tyree, Stan Birchfield
Diff-DOPE: Differentiable Deep Object Pose Estimation. CoRR (2023)
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
CuRobo: Parallelized Collision-Free Robot Motion Generation. ICRA (2023)
Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles T. Loop, Alexander G. Schwing, Stan Birchfield
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control. ICRA (2023)
Constantinos Chamzas, Caelan Reed Garrett, Balakumar Sundaralingam, Lydia E. Kavraki, Dieter Fox
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation. CoRR (2023)
Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
Model Predictive Control for Fluid Human-to-Robot Handovers. ICRA (2022)
Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox
Learning Perceptual Concepts by Bootstrapping From Human Queries. IEEE Robotics Autom. Lett. 7 (4) (2022)
Yun-Chun Chen, Adithyavairavan Murali, Balakumar Sundaralingam, Wei Yang, Animesh Garg, Dieter Fox
Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions. CoRR (2022)
Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox
Correcting Robot Plans with Natural Language Feedback. CoRR (2022)
Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. CoRR (2022)
Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles T. Loop, Alexander Schwing, Stan Birchfield
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control. CoRR (2022)
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers. CoRR (2022)
Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
Model Predictive Control for Fluid Human-to-Robot Handovers. CoRR (2022)
Isabella Huang, Yashraj S. Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox
DefGraspSim: Physics-Based Simulation of Grasp Outcomes for 3D Deformable Objects. IEEE Robotics Autom. Lett. 7 (3) (2022)
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers. ICRA (2022)
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
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior. IEEE Robotics Autom. Lett. 7 (2) (2022)
Isabella Huang, Yashraj S. Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects. CoRR (2022)
Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox
Correcting Robot Plans with Natural Language Feedback. Robotics: Science and Systems (2022)
Yashraj S. Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
Interpreting and Predicting Tactile Signals for the SynTouch BioTac. CoRR (2021)
Yashraj S. Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections. CoRR (2021)
Isabella Huang, Yashraj S. Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox
DefGraspSim: Simulation-based grasping of 3D deformable objects. CoRR (2021)
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield
Joint Space Control via Deep Reinforcement Learning. IROS (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
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior. CoRR (2021)
Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox
Learning Perceptual Concepts by Bootstrapping from Human Queries. CoRR (2021)
Yashraj S. Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
Interpreting and predicting tactile signals for the SynTouch BioTac. Int. J. Robotics Res. 40 (12-14) (2021)
Yashraj S. Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections. ICRA (2021)
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation. CoRL (2021)
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots
Fast Joint Space Model-Predictive Control for Reactive Manipulation. CoRR (2021)
Balakumar Sundaralingam, Tucker Hermans
In-Hand Object-Dynamics Inference Using Tactile Fingertips. IEEE Trans. Robotics 37 (4) (2021)
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic
Benchmarking In-Hand Manipulation. CoRR (2020)
Qingkai Lu, Mark Van der Merwe, Balakumar Sundaralingam, Tucker Hermans
Multi-Fingered Grasp Planning via Inference in Deep Neural Networks. CoRR (2020)
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic
Benchmarking In-Hand Manipulation. IEEE Robotics Autom. Lett. 5 (2) (2020)
Balakumar Sundaralingam, Tucker Hermans
In-Hand Object-Dynamics Inference using Tactile Fingertips. CoRR (2020)
Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam, Martin Matak, Tucker Hermans
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping. ICRA (2020)
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield
Joint Space Control via Deep Reinforcement Learning. CoRR (2020)
Qingkai Lu, Mark Van der Merwe, Balakumar Sundaralingam, Tucker Hermans
Multifingered Grasp Planning via Inference in Deep Neural Networks: Outperforming Sampling by Learning Differentiable Models. IEEE Robotics Autom. Mag. 27 (2) (2020)
Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan D. Ratliff, Byron Boots, Dieter Fox
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing. CoRR (2019)
Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam, Martin Matak, Tucker Hermans
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping. CoRR (2019)
Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox
Learning Latent Space Dynamics for Tactile Servoing. ICRA (2019)
Alexander Sasha Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan D. Ratliff, Byron Boots, Dieter Fox
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing. ICRA (2019)
Balakumar Sundaralingam, Tucker Hermans
Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation. Auton. Robots 43 (2) (2019)
Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
Robust Learning of Tactile Force Estimation through Robot Interaction. ICRA (2019)
Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
Robust Learning of Tactile Force Estimation through Robot Interaction. CoRR (2018)
Balakumar Sundaralingam, Tucker Hermans
Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulation. CoRR (2018)
Balakumar Sundaralingam, Tucker Hermans
Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation. CoRR (2018)
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects. CoRR (2018)
Balakumar Sundaralingam, Tucker Hermans
Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation. ICRA (2018)
Qingkai Lu, Kautilya Chenna, Balakumar Sundaralingam, Tucker Hermans
Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network. CoRR (2018)
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects. CoRL (2018)
Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox
Learning Latent Space Dynamics for Tactile Servoing. CoRR (2018)
Balakumar Sundaralingam, Tucker Hermans
Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization. Robotics: Science and Systems (2017)
Qingkai Lu, Kautilya Chenna, Balakumar Sundaralingam, Tucker Hermans
Planning Multi-fingered Grasps as Probabilistic Inference in a Learned Deep Network. ISRR (2017)