Balakumar Sundaralingam

68 papers A* 13A 2C 1Misc 5Journal 44Unranked 2
YearRankTypeTitle / Venue / Authors
2026 J jnl
cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots.
CoRR
Balakumar Sundaralingam, Adithyavairavan Murali, Stan Birchfield
2025 A* conf
Dynamic Non-Prehensile Object Transport via Model-Predictive Reinforcement Learning.
ICRA
Neel Jawale, Byron Boots, Balakumar Sundaralingam, Mohak Bhardwaj
2025 J jnl
Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control.
CoRR
Jun Yamada, Adithyavairavan Murali, Ajay Mandlekar, Clemens Eppner, Ingmar Posner, Balakumar Sundaralingam
2025 J jnl
GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training.
CoRR
Adithyavairavan Murali, Balakumar Sundaralingam, Yu-Wei Chao, Wentao Yuan, Jun Yamada, Mark Carlson, Fabio Ramos, Stan Birchfield, Dieter Fox, Clemens Eppner
2025 A* conf
Inference-Time Policy Steering Through Human Interactions.
ICRA
Yanwei Wang, Lirui Wang, Yilun Du, Balakumar Sundaralingam, Xuning Yang, Yu-Wei Chao, Claudia Pérez-D'Arpino, Dieter Fox, Julie Shah
2025 J jnl
VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning.
CoRR
Binghao Huang, Jie Xu, Iretiayo Akinola, Wei Yang, Balakumar Sundaralingam, Rowland O'Flaherty, Dieter Fox, Xiaolong Wang, Arsalan Mousavian, Yu-Wei Chao, Yunzhu Li
2024 Misc conf
Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning.
CoRL
Adam Fishman, Aaron Walsman, Mohak Bhardwaj, Wentao Yuan, Balakumar Sundaralingam, Byron Boots, Dieter Fox
2024 Misc conf
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning.
CoRL
Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox
2024 J jnl
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning.
CoRR
Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox
2024 J jnl
Dynamic Non-Prehensile Object Transport via Model-Predictive Reinforcement Learning.
CoRR
Neel Jawale, Byron Boots, Balakumar Sundaralingam, Mohak Bhardwaj
2024 J jnl
Inference-Time Policy Steering through Human Interactions.
CoRR
Yanwei Wang, Lirui Wang, Yilun Du, Balakumar Sundaralingam, Xuning Yang, Yu-Wei Chao, Claudia Pérez-D'Arpino, Dieter Fox, Julie Shah
2023 J jnl
CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation.
CoRR
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
2023 A* conf
CuRobo: Parallelized Collision-Free Robot Motion Generation.
ICRA
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
2023 A* conf
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality.
ICRA
Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj Narang
2023 J jnl
Diff-DOPE: Differentiable Deep Object Pose Estimation.
CoRR
Jonathan Tremblay, Bowen Wen, Valts Blukis, Balakumar Sundaralingam, Stephen Tyree, Stan Birchfield
2023 J jnl
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation.
CoRR
Constantinos Chamzas, Caelan Reed Garrett, Balakumar Sundaralingam, Lydia E. Kavraki, Dieter Fox
2023 A* conf
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control.
ICRA
Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles T. Loop, Alexander G. Schwing, Stan Birchfield
2023 Misc conf
Ready, Set, Plan! Planning to Goal Sets Using Generalized Bayesian Inference.
CoRL
Jana Pavlasek, Stanley Robert Lewis, Balakumar Sundaralingam, Fabio Ramos, Tucker Hermans
2023 A conf
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning.
IROS
Yu-Shun Hsiao, Siva Kumar Sastry Hari, Balakumar Sundaralingam, Jason Yik, Thierry Tambe, Charbel Sakr, Stephen W. Keckler, Vijay Janapa Reddi
2023 J jnl
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning.
CoRR
Yu-Shun Hsiao, Siva Kumar Sastry Hari, Balakumar Sundaralingam, Jason Yik, Thierry Tambe, Charbel Sakr, Stephen W. Keckler, Vijay Janapa Reddi
2022 — conf
Correcting Robot Plans with Natural Language Feedback.
Robotics: Science and Systems
Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox
2022 J jnl
Correcting Robot Plans with Natural Language Feedback.
CoRR
Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox
2022 J jnl
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality.
CoRR
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
2022 J jnl
DefGraspSim: Physics-Based Simulation of Grasp Outcomes for 3D Deformable Objects.
IEEE Robotics Autom. Lett.
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox
2022 J jnl
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects.
CoRR
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Ruzena Bajcsy, Tucker Hermans, Dieter Fox
2022 J jnl
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior.
IEEE Robotics Autom. Lett.
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
2022 A* conf
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers.
ICRA
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox
2022 J jnl
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers.
CoRR
Yu-Wei Chao, Chris Paxton, Yu Xiang, Wei Yang, Balakumar Sundaralingam, Tao Chen, Adithyavairavan Murali, Maya Cakmak, Dieter Fox
2022 J jnl
Learning Perceptual Concepts by Bootstrapping From Human Queries.
IEEE Robotics Autom. Lett.
Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox
2022 A* conf
Model Predictive Control for Fluid Human-to-Robot Handovers.
ICRA
Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
2022 J jnl
Model Predictive Control for Fluid Human-to-Robot Handovers.
CoRR
Wei Yang, Balakumar Sundaralingam, Chris Paxton, Iretiayo Akinola, Yu-Wei Chao, Maya Cakmak, Dieter Fox
2022 J jnl
Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions.
CoRR
Yun-Chun Chen, Adithyavairavan Murali, Balakumar Sundaralingam, Wei Yang, Animesh Garg, Dieter Fox
2022 J jnl
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control.
CoRR
Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay, Bowen Wen, Ye Yuan, Stephen Tyree, Charles T. Loop, Alexander G. Schwing, Stan Birchfield
2021 J jnl
DefGraspSim: Simulation-based grasping of 3D deformable objects.
CoRR
Isabella Huang, Yashraj Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox
2021 J jnl
Fast Joint Space Model-Predictive Control for Reactive Manipulation.
CoRR
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots
2021 J jnl
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior.
CoRR
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
2021 J jnl
In-Hand Object-Dynamics Inference Using Tactile Fingertips.
IEEE Trans. Robotics
Balakumar Sundaralingam, Tucker Hermans
2021 J jnl
Interpreting and Predicting Tactile Signals for the SynTouch BioTac.
CoRR
Yashraj Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
2021 J jnl
Interpreting and predicting tactile signals for the SynTouch BioTac.
Int. J. Robotics Res.
Yashraj Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox
2021 A conf
Joint Space Control via Deep Reinforcement Learning.
IROS
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield
2021 J jnl
Learning Perceptual Concepts by Bootstrapping from Human Queries.
CoRR
Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox
2021 Misc conf
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation.
CoRL
Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian, Nathan D. Ratliff, Dieter Fox, Fabio Ramos, Byron Boots
2021 A* conf
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections.
ICRA
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
2021 J jnl
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections.
CoRR
Yashraj Narang, Balakumar Sundaralingam, Miles Macklin, Arsalan Mousavian, Dieter Fox
2020 J jnl
Benchmarking In-Hand Manipulation.
CoRR
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic
2020 J jnl
Benchmarking In-Hand Manipulation.
IEEE Robotics Autom. Lett.
Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic
2020 J jnl
In-Hand Object-Dynamics Inference using Tactile Fingertips.
CoRR
Balakumar Sundaralingam, Tucker Hermans
2020 J jnl
Joint Space Control via Deep Reinforcement Learning.
CoRR
Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield
2020 — —
Kinematic Planning and Dynamics Inference for In-Hand Manipulation.
Balakumar Sundaralingam
2020 A* conf
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping.
ICRA
Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam, Martin Matak, Tucker Hermans
2020 J jnl
Multi-Fingered Grasp Planning via Inference in Deep Neural Networks.
CoRR
Qingkai Lu, Mark Van der Merwe, Balakumar Sundaralingam, Tucker Hermans
2020 J jnl
Multifingered Grasp Planning via Inference in Deep Neural Networks: Outperforming Sampling by Learning Differentiable Models.
IEEE Robotics Autom. Mag.
Qingkai Lu, Mark Van der Merwe, Balakumar Sundaralingam, Tucker Hermans
2019 A* conf
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing.
ICRA
Alexander Sasha Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan D. Ratliff, Byron Boots, Dieter Fox
2019 J jnl
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing.
CoRR
Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan D. Ratliff, Byron Boots, Dieter Fox
2019 J jnl
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping.
CoRR
Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam, Martin Matak, Tucker Hermans
2019 A* conf
Learning Latent Space Dynamics for Tactile Servoing.
ICRA
Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox
2019 J jnl
Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation.
Auton. Robots
Balakumar Sundaralingam, Tucker Hermans
2019 A* conf
Robust Learning of Tactile Force Estimation through Robot Interaction.
ICRA
Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2018 Misc conf
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects.
CoRL
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield
2018 J jnl
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects.
CoRR
Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield
2018 A* conf
Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation.
ICRA
Balakumar Sundaralingam, Tucker Hermans
2018 J jnl
Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation.
CoRR
Balakumar Sundaralingam, Tucker Hermans
2018 J jnl
Learning Latent Space Dynamics for Tactile Servoing.
CoRR
Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox
2018 J jnl
Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network.
CoRR
Qingkai Lu, Kautilya Chenna, Balakumar Sundaralingam, Tucker Hermans
2018 J jnl
Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulation.
CoRR
Balakumar Sundaralingam, Tucker Hermans
2018 J jnl
Robust Learning of Tactile Force Estimation through Robot Interaction.
CoRR
Balakumar Sundaralingam, Alexander Sasha Lambert, Ankur Handa, Byron Boots, Tucker Hermans, Stan Birchfield, Nathan D. Ratliff, Dieter Fox
2017 C conf
Planning Multi-fingered Grasps as Probabilistic Inference in a Learned Deep Network.
ISRR
Qingkai Lu, Kautilya Chenna, Balakumar Sundaralingam, Tucker Hermans
2017 — conf
Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization.
Robotics: Science and Systems
Balakumar Sundaralingam, Tucker Hermans