Mustafa Mukadam

Publication Activity (10 Years)

Years Active: 2014-2024
Publications (10 Years): 76

Top Topics

Gaussian Process

Approximately Optimal

Motion Planning

Signed Distance

Top Venues

Publications

Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg
A Touch, Vision, and Language Dataset for Multimodal Alignment. CoRR (2024)
Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam
Neural Grasp Distance Fields for Robot Manipulation. ICRA (2023)
Carolina Higuera, Siyuan Dong, Byron Boots, Mustafa Mukadam
Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing. ICRA (2023)
Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd D. Murphey, Mustafa Mukadam
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. Robotics: Science and Systems (2023)
Carolina Higuera, Byron Boots, Mustafa Mukadam
Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models. CoRR (2023)
Dishank Bansal, Ricky T. Q. Chen, Mustafa Mukadam, Brandon Amos
TaskMet: Task-Driven Metric Learning for Model Learning. CoRR (2023)
Sudharshan Suresh, Haozhi Qi, Tingfan Wu, Taosha Fan, Luis Pineda, Mike Lambeta, Jitendra Malik, Mrinal Kalakrishnan, Roberto Calandra, Michael Kaess, Joseph Ortiz, Mustafa Mukadam
Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation. CoRR (2023)
Dishank Bansal, Ricky T. Q. Chen, Mustafa Mukadam, Brandon Amos
TaskMet: Task-driven Metric Learning for Model Learning. NeurIPS (2023)
Benjamin Bolte, Austin Wang, Jimmy Yang, Mustafa Mukadam, Mrinal Kalakrishnan, Chris Paxton
USA-Net: Unified Semantic and Affordance Representations for Robot Memory. IROS (2023)
Benjamin Bolte, Austin Wang, Jimmy Yang, Mustafa Mukadam, Mrinal Kalakrishnan, Chris Paxton
USA-Net: Unified Semantic and Affordance Representations for Robot Memory. CoRR (2023)
Carolina Higuera, Joseph Ortiz, Haozhi Qi, Luis Pineda, Byron Boots, Mustafa Mukadam
Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies. CoRR (2023)
Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd D. Murphey, Mustafa Mukadam
Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. CoRR (2023)
Jason Toskov, Rhys Newbury, Mustafa Mukadam, Dana Kulic, Akansel Cosgun
In-Hand Gravitational Pivoting Using Tactile Sensing. CoRL (2022)
Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam
Neural Grasp Distance Fields for Robot Manipulation. CoRR (2022)
Carolina Higuera, Siyuan Dong, Byron Boots, Mustafa Mukadam
Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing. CoRR (2022)
Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotný, Michael Zollhöfer, Mustafa Mukadam
iSDF: Real-Time Neural Signed Distance Fields for Robot Perception. CoRR (2022)
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
Theseus: A Library for Differentiable Nonlinear Optimization. NeurIPS (2022)
Jason Toskov, Rhys Newbury, Mustafa Mukadam, Dana Kulic, Akansel Cosgun
In-Hand Gravitational Pivoting Using Tactile Sensing. CoRR (2022)
Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotný, Michael Zollhöfer, Mustafa Mukadam
iSDF: Real-Time Neural Signed Distance Fields for Robot Perception. Robotics: Science and Systems (2022)
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
Theseus: A Library for Differentiable Nonlinear Optimization. CoRR (2022)
Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, Mustafa Mukadam
MidasTouch: Monte-Carlo inference over distributions across sliding touch. CoRR (2022)
Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, Florian Shkurti
TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs. CoRR (2022)
Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, Mustafa Mukadam
MidasTouch: Monte-Carlo inference over distributions across sliding touch. CoRL (2022)
Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess
LEO: Learning Energy-based Models in Factor Graph Optimization. CoRL (2021)
Bernardo Aceituno-Cabezas, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam
A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation. CoRR (2021)
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson
PatchGraph: In-hand tactile tracking with learned surface normals. CoRR (2021)
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson
Learning Tactile Models for Factor Graph-based Estimation. ICRA (2021)
Kaichun Mo, Leonidas J. Guibas, Mustafa Mukadam, Abhinav Gupta, Shubham Tulsiani
Where2Act: From Pixels to Actions for Articulated 3D Objects. ICCV (2021)
Meera Hahn, Devendra Singh Chaplot, Shubham Tulsiani, Mustafa Mukadam, James M. Rehg, Abhinav Gupta
No RL, No Simulation: Learning to Navigate without Navigating. CoRR (2021)
Bernardo Aceituno-Cabezas, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam
A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation. CoRL (2021)
Meera Hahn, Devendra Singh Chaplot, Shubham Tulsiani, Mustafa Mukadam, James M. Rehg, Abhinav Gupta
No RL, No Simulation: Learning to Navigate without Navigating. NeurIPS (2021)
Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd D. Murphey, Mustafa Mukadam
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation. ICCV (2021)
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
RMPflow: A Geometric Framework for Generation of Multitask Motion Policies. IEEE Trans Autom. Sci. Eng. 18 (3) (2021)
Andrew Szot, Alexander Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John 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
Habitat 2.0: Training Home Assistants to Rearrange their Habitat. NeurIPS (2021)
Rogerio Bonatti, Arthur Bucker, Sebastian A. Scherer, Mustafa Mukadam, Jessica K. Hodgins
Batteries, camera, action! Learning a semantic control space for expressive robot cinematography. ICRA (2021)
Andrew Szot, Alexander Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Singh Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, Dhruv Batra
Habitat 2.0: Training Home Assistants to Rearrange their Habitat. CoRR (2021)
Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess
LEO: Learning Energy-based Models in Graph Optimization. CoRR (2021)
Kalyan Vasudev Alwala, Mustafa Mukadam
Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning. IROS (2021)
Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, Florian Shkurti
Taskography: Evaluating robot task planning over large 3D scene graphs. CoRL (2021)
Kaichun Mo, Leonidas J. Guibas, Mustafa Mukadam, Abhinav Gupta, Shubham Tulsiani
Where2Act: From Pixels to Actions for Articulated 3D Objects. CoRR (2021)
Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd D. Murphey, Mustafa Mukadam
Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation. CoRR (2021)
Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, Deepak Pathak
Neural Dynamic Policies for End-to-End Sensorimotor Learning. NeurIPS (2020)
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies. CoRR (2020)
Rogerio Bonatti, Arthur Bucker, Sebastian A. Scherer, Mustafa Mukadam, Jessica K. Hodgins
Batteries, camera, action! Learning a semantic control space for expressive robot cinematography. CoRR (2020)
Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, Deepak Pathak
Neural Dynamic Policies for End-to-End Sensorimotor Learning. CoRR (2020)
Giovanni Sutanto, Austin S. Wang, Yixin Lin, Mustafa Mukadam, Gaurav S. Sukhatme, Akshara Rai, Franziska Meier
Encoding Physical Constraints in Differentiable Newton-Euler Algorithm. L4DC (2020)
Giovanni Sutanto, Austin S. Wang, Yixin Lin, Mustafa Mukadam, Gaurav S. Sukhatme, Akshara Rai, Franziska Meier
Encoding Physical Constraints in Differentiable Newton-Euler Algorithm. CoRR (2020)
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson
Learning Tactile Models for Factor Graph-based State Estimation. CoRR (2020)
Kalyan Vasudev Alwala, Mustafa Mukadam
Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning. CoRR (2020)
Mohak Bhardwaj, Byron Boots, Mustafa Mukadam
Differentiable Gaussian Process Motion Planning. ICRA (2020)
Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan D. Ratliff
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping. CoRL (2019)
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)
Keshav Kolur, Sahit Chintalapudi, Byron Boots, Mustafa Mukadam
Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference. IROS (2019)
Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan D. Ratliff
Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping. CoRR (2019)
Anqi Li, Mustafa Mukadam, Magnus Egerstedt, Byron Boots
Multi-objective Policy Generation for Multi-robot Systems Using Riemannian Motion Policies. ISRR (2019)
Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots
STEAP: simultaneous trajectory estimation and planning. Auton. Robots 43 (2) (2019)
Muhammad Asif Rana, Anqi Li, Harish Ravichandar, Mustafa Mukadam, Sonia Chernova, Dieter Fox, Byron Boots, Nathan D. Ratliff
Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations. CoRL (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)
Mohak Bhardwaj, Byron Boots, Mustafa Mukadam
Differentiable Gaussian Process Motion Planning. CoRR (2019)
Keshav Kolur, Sahit Chintalapudi, Byron Boots, Mustafa Mukadam
Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference. CoRR (2019)
Anqi Li, Mustafa Mukadam, Magnus Egerstedt, Byron Boots
Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies. CoRR (2019)
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
RMPflow: A Computational Graph for Automatic Motion Policy Generation. CoRR (2018)
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
: A Computational Graph for Automatic Motion Policy Generation. WAFR (2018)
Muhammad Asif Rana, Mustafa Mukadam, Seyed Reza Ahmadzadeh, Sonia Chernova, Byron Boots
Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments. CoRR (2018)
Muhammad Asif Rana, Mustafa Mukadam, Seyed Reza Ahmadzadeh, Sonia Chernova, Byron Boots
Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments. IROS (2018)
Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots
STEAP: simultaneous trajectory estimation and planning. CoRR (2018)
Mustafa Mukadam, Jing Dong, Xinyan Yan, Frank Dellaert, Byron Boots
Continuous-time Gaussian process motion planning via probabilistic inference. Int. J. Robotics Res. 37 (11) (2018)
Jing Dong, Mustafa Mukadam, Byron Boots, Frank Dellaert
Sparse Gaussian Processes on Matrix Lie Groups: A Unified Framework for Optimizing Continuous-Time Trajectories. ICRA (2018)
Eric Huang, Mustafa Mukadam, Zhen Liu, Byron Boots
Motion planning with graph-based trajectories and Gaussian process inference. ICRA (2017)
Mustafa Mukadam, Ching-An Cheng, Xinyan Yan, Byron Boots
Approximately Optimal Continuous-Time Motion Planning and Control via Probabilistic Inference. CoRR (2017)
Muhammad Asif Rana, Mustafa Mukadam, Seyed Reza Ahmadzadeh, Sonia Chernova, Byron Boots
Towards Robust Skill Generalization: Unifying Learning from Demonstration and Motion Planning. CoRL (2017)
Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots
Simultaneous Trajectory Estimation and Planning via Probabilistic Inference. Robotics: Science and Systems (2017)
Mustafa Mukadam, Ching-An Cheng, Xinyan Yan, Byron Boots
Approximately optimal continuous-time motion planning and control via Probabilistic Inference. ICRA (2017)
Mustafa Mukadam, Jing Dong, Xinyan Yan, Frank Dellaert, Byron Boots
Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference. CoRR (2017)
Jing Dong, Mustafa Mukadam, Frank Dellaert, Byron Boots
Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs. Robotics: Science and Systems (2016)
Mustafa Mukadam, Xinyan Yan, Byron Boots
Gaussian Process Motion planning. ICRA (2016)
Mustafa Mukadam, Andy Borum, Timothy Bretl
Quasi-static manipulation of a planar elastic rod using multiple robotic grippers. IROS (2014)