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ORCIDBalakumar Sundaralingam
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2020 – today
- 2023
[c19]Jana Pavlasek, Stanley Robert Lewis, Balakumar Sundaralingam, Fabio Ramos, Tucker Hermans:
Ready, Set, Plan! Planning to Goal Sets Using Generalized Bayesian Inference. CoRL 2023: 3672-3686- [c18]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: 1778-1785 - [c17]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: 5977-5984 - [c16]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: 8112-8119 - [c15]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: 6304-6309 - [i29]Constantinos Chamzas, Caelan Reed Garrett, Balakumar Sundaralingam, Lydia E. Kavraki, Dieter Fox:
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation. CoRR abs/2307.04040 (2023) - [i28]Jonathan Tremblay, Bowen Wen, Valts Blukis, Balakumar Sundaralingam, Stephen Tyree, Stan Birchfield:
Diff-DOPE: Differentiable Deep Object Pose Estimation. CoRR abs/2310.00463 (2023) - [i27]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 abs/2310.07854 (2023) - [i26]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 abs/2310.17274 (2023) - 2022
- [j8]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): 3202-3209 (2022) - [j7]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): 6274-6281 (2022) - [j6]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): 11260-11267 (2022) - [c14]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: 6941-6947 - [c13]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: 6956-6962 - [c12]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 - [i25]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 abs/2203.11274 (2022) - [i24]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 abs/2204.00134 (2022) - [i23]Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis, Chris Paxton, Tucker Hermans, Antonio Torralba, Jacob Andreas, Dieter Fox:
Correcting Robot Plans with Natural Language Feedback. CoRR abs/2204.05186 (2022) - [i22]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 abs/2205.09747 (2022) - [i21]Yun-Chun Chen, Adithyavairavan Murali, Balakumar Sundaralingam, Wei Yang, Animesh Garg, Dieter Fox:
Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions. CoRR abs/2206.14854 (2022) - [i20]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. CoRR abs/2210.11668 (2022) - [i19]Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, Balakumar Sundaralingam, Yashraj S. Narang, Jean-Francois Lafleche, Dieter Fox, Gavriel State:
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. CoRR abs/2210.13702 (2022) - 2021
- [j5]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): 1467-1487 (2021) - [j4]Balakumar Sundaralingam, Tucker Hermans:
In-Hand Object-Dynamics Inference Using Tactile Fingertips. IEEE Trans. Robotics 37(4): 1115-1126 (2021) - [c11]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: 750-759 - [c10]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: 6444-6451 - [c9]Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield:
Joint Space Control via Deep Reinforcement Learning. IROS 2021: 3619-3626 - [i18]Yashraj S. Narang, Balakumar Sundaralingam, Karl Van Wyk, Arsalan Mousavian, Dieter Fox:
Interpreting and Predicting Tactile Signals for the SynTouch BioTac. CoRR abs/2101.05452 (2021) - [i17]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 abs/2103.16747 (2021) - [i16]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 abs/2104.13542 (2021) - [i15]Isabella Huang, Yashraj S. Narang, Clemens Eppner, Balakumar Sundaralingam, Miles Macklin, Tucker Hermans, Dieter Fox:
DefGraspSim: Simulation-based grasping of 3D deformable objects. CoRR abs/2107.05778 (2021) - [i14]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 abs/2109.10443 (2021) - [i13]Andreea Bobu, Chris Paxton, Wei Yang, Balakumar Sundaralingam, Yu-Wei Chao, Maya Cakmak, Dieter Fox:
Learning Perceptual Concepts by Bootstrapping from Human Queries. CoRR abs/2111.05251 (2021) - 2020
- [b1]Balakumar Sundaralingam:
Kinematic Planning and Dynamics Inference for In-Hand Manipulation. University of Utah, USA, 2020 - [j3]Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic:
Benchmarking In-Hand Manipulation. IEEE Robotics Autom. Lett. 5(2): 588-595 (2020) - [j2]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): 55-65 (2020) - [c8]Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam, Martin Matak, Tucker Hermans:
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping. ICRA 2020: 11516-11522 - [i12]Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang, Vikash Kumar, Tucker Hermans, Danica Kragic:
Benchmarking In-Hand Manipulation. CoRR abs/2001.03070 (2020) - [i11]Qingkai Lu, Mark Van der Merwe, Balakumar Sundaralingam, Tucker Hermans:
Multi-Fingered Grasp Planning via Inference in Deep Neural Networks. CoRR abs/2001.09242 (2020) - [i10]Balakumar Sundaralingam, Tucker Hermans:
In-Hand Object-Dynamics Inference using Tactile Fingertips. CoRR abs/2003.13165 (2020) - [i9]Visak Kumar, David Hoeller, Balakumar Sundaralingam, Jonathan Tremblay, Stan Birchfield:
Joint Space Control via Deep Reinforcement Learning. CoRR abs/2011.06332 (2020)
2010 – 2019
- 2019
- [j1]Balakumar Sundaralingam, Tucker Hermans:
Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation. Auton. Robots 43(2): 469-483 (2019) - [c7]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: 3165-3171 - [c6]Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox:
Learning Latent Space Dynamics for Tactile Servoing. ICRA 2019: 3622-3628 - [c5]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: 9035-9042 - [i8]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 abs/1903.03699 (2019) - [i7]Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam, Martin Matak, Tucker Hermans:
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping. CoRR abs/1910.00983 (2019) - 2018
- [c4]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: 306-316 - [c3]Balakumar Sundaralingam, Tucker Hermans:
Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation. ICRA 2018: 231-238 - [i6]Qingkai Lu, Kautilya Chenna, Balakumar Sundaralingam, Tucker Hermans:
Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network. CoRR abs/1804.03289 (2018) - [i5]Balakumar Sundaralingam, Tucker Hermans:
Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation. CoRR abs/1804.04292 (2018) - [i4]Balakumar Sundaralingam, Tucker Hermans:
Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulation. CoRR abs/1806.00942 (2018) - [i3]Jonathan Tremblay, Thang To, Balakumar Sundaralingam, Yu Xiang, Dieter Fox, Stan Birchfield:
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects. CoRR abs/1809.10790 (2018) - [i2]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 abs/1810.06187 (2018) - [i1]Giovanni Sutanto, Nathan D. Ratliff, Balakumar Sundaralingam, Yevgen Chebotar, Zhe Su, Ankur Handa, Dieter Fox:
Learning Latent Space Dynamics for Tactile Servoing. CoRR abs/1811.03704 (2018) - 2017
- [c2]Qingkai Lu, Kautilya Chenna, Balakumar Sundaralingam, Tucker Hermans:
Planning Multi-fingered Grasps as Probabilistic Inference in a Learned Deep Network. ISRR 2017: 455-472 - [c1]Balakumar Sundaralingam, Tucker Hermans:
Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization. Robotics: Science and Systems 2017
Coauthor Index
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