Mustafa Mukadam

95 papers A* 20A 6C 2Misc 9Journal 52Unranked 5

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	HydroShear: Hydroelastic Shear Simulation for Tactile Sim-to-Real Reinforcement Learning. CoRR An Dang, Jayjun Lee, Mustafa Mukadam, X. Alice Wu, Bernadette Bucher, Manikantan Nambi, Nima Fazeli
2026	J	`jnl`	PTLD: Sim-to-real Privileged Tactile Latent Distillation for Dexterous Manipulation. CoRR Rosy Chen, Mustafa Mukadam, Michael Kaess, Tingfan Wu, Francois Robert Hogan, Jitendra Malik, Akash Sharma
2026	J	`jnl`	TactAlign: Human-to-Robot Policy Transfer via Tactile Alignment. CoRR Youngsun Wi, Jessica Yin, Elvis Xiang, Akash Sharma, Jitendra Malik, Mustafa Mukadam, Nima Fazeli, Tess Lee Hellebrekers
2026	J	`jnl`	Visuo-Tactile World Models. CoRR Carolina Higuera, Sergio Arnaud, Byron Boots, Mustafa Mukadam, Francois Robert Hogan, Franziska Meier
2025	J	`jnl`	DABA: Decentralized and accelerated large-scale bundle adjustment. Int. J. Robotics Res. Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd D. Murphey, Mustafa Mukadam
2025	J	`jnl`	DexterityGen: Foundation Controller for Unprecedented Dexterity. CoRR Zhao-Heng Yin, Changhao Wang, Luis Pineda, Francois Robert Hogan, Chaithanya Krishna Bodduluri, Akash Sharma, Patrick Lancaster, Ishita Prasad, Mrinal Kalakrishnan, Jitendra Malik, Mike Lambeta, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam
2025	A	`conf`	Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm. IROS Zhao-Heng Yin, Changhao Wang, Luis Pineda, Chaithanya Krishna Bodduluri, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam
2025	J	`jnl`	Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm. CoRR Zhao-Heng Yin, Changhao Wang, Luis Pineda, Chaithanya Krishna Bodduluri, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam
2025	A*	`conf`	OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction. ICML Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel
2025	J	`jnl`	OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction. CoRR Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel
2025	J	`jnl`	Self-supervised perception for tactile skin covered dexterous hands. CoRR Akash Sharma, Carolina Higuera, Chaithanya Krishna Bodduluri, Zixi Liu, Taosha Fan, Tess Hellebrekers, Mike Lambeta, Byron Boots, Michael Kaess, Tingfan Wu, Francois Robert Hogan, Mustafa Mukadam
2025	J	`jnl`	Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation. CoRR Carolina Higuera, Akash Sharma, Taosha Fan, Chaithanya Krishna Bodduluri, Byron Boots, Michael Kaess, Mike Lambeta, Tingfan Wu, Zixi Liu, Francois Robert Hogan, Mustafa Mukadam
2024	A*	`conf`	A Touch, Vision, and Language Dataset for Multimodal Alignment. ICML Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg
2024	J	`jnl`	A Touch, Vision, and Language Dataset for Multimodal Alignment. CoRR Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg
2024	J	`jnl`	NeuralFeels with neural fields: Visuotactile perception for in-hand manipulation. Sci. Robotics Sudharshan Suresh, Haozhi Qi, Tingfan Wu, Taosha Fan, Luis Pineda, Mike Lambeta, Jitendra Malik, Mrinal Kalakrishnan, Roberto Calandra, Michael Kaess, Joseph Ortiz, Mustafa Mukadam
2024	Misc	`conf`	Sparsh: Self-supervised touch representations for vision-based tactile sensing. CoRL Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri, Taosha Fan, Patrick Lancaster, Mrinal Kalakrishnan, Michael Kaess, Byron Boots, Mike Lambeta, Tingfan Wu, Mustafa Mukadam
2024	J	`jnl`	Sparsh: Self-supervised touch representations for vision-based tactile sensing. CoRR Carolina Higuera, Akash Sharma, Chaithanya Krishna Bodduluri, Taosha Fan, Patrick Lancaster, Mrinal Kalakrishnan, Michael Kaess, Byron Boots, Mike Lambeta, Tingfan Wu, Mustafa Mukadam
2023	—	`conf`	Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. Robotics: Science and Systems Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd D. Murphey, Mustafa Mukadam
2023	J	`jnl`	Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. CoRR Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd D. Murphey, Mustafa Mukadam
2023	J	`jnl`	Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models. CoRR Carolina Higuera, Byron Boots, Mustafa Mukadam
2023	A*	`conf`	Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing. ICRA Carolina Higuera, Siyuan Dong, Byron Boots, Mustafa Mukadam
2023	A*	`conf`	Neural Grasp Distance Fields for Robot Manipulation. ICRA Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam
2023	J	`jnl`	Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation. CoRR Sudharshan Suresh, Haozhi Qi, Tingfan Wu, Taosha Fan, Luis Pineda, Mike Lambeta, Jitendra Malik, Mrinal Kalakrishnan, Roberto Calandra, Michael Kaess, Joseph Ortiz, Mustafa Mukadam
2023	J	`jnl`	Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies. CoRR Carolina Higuera, Joseph Ortiz, Haozhi Qi, Luis Pineda, Byron Boots, Mustafa Mukadam
2023	J	`jnl`	TaskMet: Task-Driven Metric Learning for Model Learning. CoRR Dishank Bansal, Ricky T. Q. Chen, Mustafa Mukadam, Brandon Amos
2023	A*	`conf`	TaskMet: Task-driven Metric Learning for Model Learning. NeurIPS Dishank Bansal, Ricky T. Q. Chen, Mustafa Mukadam, Brandon Amos
2023	A	`conf`	USA-Net: Unified Semantic and Affordance Representations for Robot Memory. IROS Benjamin Bolte, Austin S. Wang, Jimmy Yang, Mustafa Mukadam, Mrinal Kalakrishnan, Chris Paxton
2023	J	`jnl`	USA-Net: Unified Semantic and Affordance Representations for Robot Memory. CoRR Benjamin Bolte, Austin S. Wang, Jimmy Yang, Mustafa Mukadam, Mrinal Kalakrishnan, Chris Paxton
2022	Misc	`conf`	In-Hand Gravitational Pivoting Using Tactile Sensing. CoRL Jason Toskov, Rhys Newbury, Mustafa Mukadam, Dana Kulic, Akansel Cosgun
2022	J	`jnl`	In-Hand Gravitational Pivoting Using Tactile Sensing. CoRR Jason Toskov, Rhys Newbury, Mustafa Mukadam, Dana Kulic, Akansel Cosgun
2022	Misc	`conf`	MidasTouch: Monte-Carlo inference over distributions across sliding touch. CoRL Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, Mustafa Mukadam
2022	J	`jnl`	MidasTouch: Monte-Carlo inference over distributions across sliding touch. CoRR Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, Mustafa Mukadam
2022	J	`jnl`	Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing. CoRR Carolina Higuera, Siyuan Dong, Byron Boots, Mustafa Mukadam
2022	J	`jnl`	Neural Grasp Distance Fields for Robot Manipulation. CoRR Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam
2022	A*	`conf`	PatchGraph: In-hand tactile tracking with learned surface normals. ICRA Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson
2022	J	`jnl`	TASKOGRAPHY: Evaluating robot task planning over large 3D scene graphs. CoRR Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, Florian Shkurti
2022	A*	`conf`	Theseus: A Library for Differentiable Nonlinear Optimization. NeurIPS 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
2022	J	`jnl`	Theseus: A Library for Differentiable Nonlinear Optimization. CoRR 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
2022	—	`conf`	iSDF: Real-Time Neural Signed Distance Fields for Robot Perception. Robotics: Science and Systems Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotný, Michael Zollhöfer, Mustafa Mukadam
2022	J	`jnl`	iSDF: Real-Time Neural Signed Distance Fields for Robot Perception. CoRR Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotný, Michael Zollhöfer, Mustafa Mukadam
2021	Misc	`conf`	A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation. CoRL Bernardo Aceituno-Cabezas, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam
2021	J	`jnl`	A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation. CoRR Bernardo Aceituno-Cabezas, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam
2021	A*	`conf`	Batteries, camera, action! Learning a semantic control space for expressive robot cinematography. ICRA Rogerio Bonatti, Arthur Bucker, Sebastian A. Scherer, Mustafa Mukadam, Jessica K. Hodgins
2021	A*	`conf`	Habitat 2.0: Training Home Assistants to Rearrange their Habitat. NeurIPS 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
2021	J	`jnl`	Habitat 2.0: Training Home Assistants to Rearrange their Habitat. CoRR 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
2021	A	`conf`	Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning. IROS Kalyan Vasudev Alwala, Mustafa Mukadam
2021	Misc	`conf`	LEO: Learning Energy-based Models in Factor Graph Optimization. CoRL Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess
2021	J	`jnl`	LEO: Learning Energy-based Models in Graph Optimization. CoRR Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess
2021	A*	`conf`	Learning Tactile Models for Factor Graph-based Estimation. ICRA Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson
2021	A*	`conf`	No RL, No Simulation: Learning to Navigate without Navigating. NeurIPS Meera Hahn, Devendra Singh Chaplot, Shubham Tulsiani, Mustafa Mukadam, James M. Rehg, Abhinav Gupta
2021	J	`jnl`	No RL, No Simulation: Learning to Navigate without Navigating. CoRR Meera Hahn, Devendra Singh Chaplot, Shubham Tulsiani, Mustafa Mukadam, James M. Rehg, Abhinav Gupta
2021	J	`jnl`	PatchGraph: In-hand tactile tracking with learned surface normals. CoRR Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson
2021	J	`jnl`	RMPflow: A Geometric Framework for Generation of Multitask Motion Policies. IEEE Trans Autom. Sci. Eng. Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
2021	A*	`conf`	Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation. ICCV Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd D. Murphey, Mustafa Mukadam
2021	J	`jnl`	Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation. CoRR Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd D. Murphey, Mustafa Mukadam
2021	Misc	`conf`	Taskography: Evaluating robot task planning over large 3D scene graphs. CoRL Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, Florian Shkurti
2021	A*	`conf`	Where2Act: From Pixels to Actions for Articulated 3D Objects. ICCV Kaichun Mo, Leonidas J. Guibas, Mustafa Mukadam, Abhinav Gupta, Shubham Tulsiani
2021	J	`jnl`	Where2Act: From Pixels to Actions for Articulated 3D Objects. CoRR Kaichun Mo, Leonidas J. Guibas, Mustafa Mukadam, Abhinav Gupta, Shubham Tulsiani
2020	J	`jnl`	Batteries, camera, action! Learning a semantic control space for expressive robot cinematography. CoRR Rogerio Bonatti, Arthur Bucker, Sebastian A. Scherer, Mustafa Mukadam, Jessica K. Hodgins
2020	A*	`conf`	Differentiable Gaussian Process Motion Planning. ICRA Mohak Bhardwaj, Byron Boots, Mustafa Mukadam
2020	—	`conf`	Encoding Physical Constraints in Differentiable Newton-Euler Algorithm. L4DC Giovanni Sutanto, Austin S. Wang, Yixin Lin, Mustafa Mukadam, Gaurav S. Sukhatme, Akshara Rai, Franziska Meier
2020	J	`jnl`	Encoding Physical Constraints in Differentiable Newton-Euler Algorithm. CoRR Giovanni Sutanto, Austin S. Wang, Yixin Lin, Mustafa Mukadam, Gaurav S. Sukhatme, Akshara Rai, Franziska Meier
2020	J	`jnl`	Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning. CoRR Kalyan Vasudev Alwala, Mustafa Mukadam
2020	J	`jnl`	Learning Tactile Models for Factor Graph-based State Estimation. CoRR Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson
2020	A*	`conf`	Neural Dynamic Policies for End-to-End Sensorimotor Learning. NeurIPS Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, Deepak Pathak
2020	J	`jnl`	Neural Dynamic Policies for End-to-End Sensorimotor Learning. CoRR Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, Deepak Pathak
2020	J	`jnl`	RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies. CoRR Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
2019	J	`jnl`	Differentiable Gaussian Process Motion Planning. CoRR Mohak Bhardwaj, Byron Boots, Mustafa Mukadam
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	Misc	`conf`	Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations. CoRL Muhammad Asif Rana, Anqi Li, Harish Ravichandar, Mustafa Mukadam, Sonia Chernova, Dieter Fox, Byron Boots, Nathan D. Ratliff
2019	J	`jnl`	Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies. CoRR Anqi Li, Mustafa Mukadam, Magnus Egerstedt, Byron Boots
2019	C	`conf`	Multi-objective Policy Generation for Multi-robot Systems Using Riemannian Motion Policies. ISRR Anqi Li, Mustafa Mukadam, Magnus Egerstedt, Byron Boots
2019	A	`conf`	Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference. IROS Keshav Kolur, Sahit Chintalapudi, Byron Boots, Mustafa Mukadam
2019	J	`jnl`	Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference. CoRR Keshav Kolur, Sahit Chintalapudi, Byron Boots, Mustafa Mukadam
2019	Misc	`conf`	Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping. CoRL Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan D. Ratliff
2019	J	`jnl`	Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping. CoRR Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan D. Ratliff
2019	J	`jnl`	STEAP: simultaneous trajectory estimation and planning. Auton. Robots Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots
2019	—	`—`	Structured learning and inference for robot motion generation. Mustafa Mukadam
2018	J	`jnl`	Continuous-time Gaussian process motion planning via probabilistic inference. Int. J. Robotics Res. Mustafa Mukadam, Jing Dong, Xinyan Yan, Frank Dellaert, Byron Boots
2018	A	`conf`	Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments. IROS Muhammad Asif Rana, Mustafa Mukadam, Seyed Reza Ahmadzadeh, Sonia Chernova, Byron Boots
2018	J	`jnl`	Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments. CoRR Muhammad Asif Rana, Mustafa Mukadam, Seyed Reza Ahmadzadeh, Sonia Chernova, Byron Boots
2018	C	`conf`	RMP WAFR Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
2018	J	`jnl`	RMPflow: A Computational Graph for Automatic Motion Policy Generation. CoRR Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, Nathan D. Ratliff
2018	J	`jnl`	STEAP: simultaneous trajectory estimation and planning. CoRR Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots
2018	A*	`conf`	Sparse Gaussian Processes on Matrix Lie Groups: A Unified Framework for Optimizing Continuous-Time Trajectories. ICRA Jing Dong, Mustafa Mukadam, Byron Boots, Frank Dellaert
2017	J	`jnl`	Approximately Optimal Continuous-Time Motion Planning and Control via Probabilistic Inference. CoRR Mustafa Mukadam, Ching-An Cheng, Xinyan Yan, Byron Boots
2017	A*	`conf`	Approximately optimal continuous-time motion planning and control via Probabilistic Inference. ICRA Mustafa Mukadam, Ching-An Cheng, Xinyan Yan, Byron Boots
2017	J	`jnl`	Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference. CoRR Mustafa Mukadam, Jing Dong, Xinyan Yan, Frank Dellaert, Byron Boots
2017	A*	`conf`	Motion planning with graph-based trajectories and Gaussian process inference. ICRA Eric Huang, Mustafa Mukadam, Zhen Liu, Byron Boots
2017	—	`conf`	Simultaneous Trajectory Estimation and Planning via Probabilistic Inference. Robotics: Science and Systems Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots
2017	Misc	`conf`	Towards Robust Skill Generalization: Unifying Learning from Demonstration and Motion Planning. CoRL Muhammad Asif Rana, Mustafa Mukadam, Seyed Reza Ahmadzadeh, Sonia Chernova, Byron Boots
2016	A*	`conf`	Gaussian Process Motion planning. ICRA Mustafa Mukadam, Xinyan Yan, Byron Boots
2016	—	`conf`	Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs. Robotics: Science and Systems Jing Dong, Mustafa Mukadam, Frank Dellaert, Byron Boots
2014	A	`conf`	Quasi-static manipulation of a planar elastic rod using multiple robotic grippers. IROS Mustafa Mukadam, Andy Borum, Timothy Bretl