Learning accurate kinematic control of cable-driven surgical robots using data cleaning and Gaussian Process Regression. - Jeffrey Mahler; Sanjay Krishnan; Michael Laskey; Siddarth Sen; Adithyavairavan Murali; Ben Kehoe; Sachin Patil; Jiannan Wang 001; Mike Franklin; Pieter Abbeel; Kenneth Y. Goldberg (CASE, 2014)

A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery. - Stephen McKinley; Animesh Garg; Siddarth Sen; Rishi Kapadia; Adithyavairavan Murali; Kirk A. Nichols; Susan Lim; Sachin Patil; Pieter Abbeel; Allison M. Okamura; Ken Goldberg (CASE, 2015)

Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms. - Adithyavairavan Murali; Siddarth Sen; Ben Kehoe; Animesh Garg; Seth McFarland; Sachin Patil; W. Douglas Boyd; Susan Lim; Pieter Abbeel; Kenneth Y. Goldberg (ICRA, 2015)

Models of human-centered automation in a debridement task. - Kirk A. Nichols; Adithyavairavan Murali; Siddarth Sen; Ken Goldberg; Allison M. Okamura (IROS, 2015)

A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks. - Kamran Shamaei; Yuhang Che; Adithyavairavan Murali; Siddarth Sen; Sachin Patil; Ken Goldberg; Allison M. Okamura (IROS, 2015)

TSC-DL: Unsupervised trajectory segmentation of multi-modal surgical demonstrations with Deep Learning. - Adithyavairavan Murali; Animesh Garg; Sanjay Krishnan; Florian T. Pokorny; Pieter Abbeel; Trevor Darrell; Ken Goldberg (ICRA, 2016)

CASSL: Curriculum Accelerated Self-Supervised Learning. - Adithyavairavan Murali; Lerrel Pinto; Dhiraj Gandhi; Abhinav Gupta 001 (ICRA, 2018)

Learning to Grasp Without Seeing. - Adithyavairavan Murali; Yin Li 003; Dhiraj Gandhi; Abhinav Gupta 001 (ISER, 2018)

Hardware Conditioned Policies for Multi-Robot Transfer Learning. - Tao Chen 046; Adithyavairavan Murali; Abhinav Gupta 001 (NeurIPS, 2018)

Robot Learning in Homes: Improving Generalization and Reducing Dataset Bias. - Abhinav Gupta 001; Adithyavairavan Murali; Dhiraj Gandhi; Lerrel Pinto (NeurIPS, 2018)

PyRobot: An Open-source Robotics Framework for Research and Benchmarking. - Adithyavairavan Murali; Tao Chen 046; Kalyan Vasudev Alwala; Dhiraj Gandhi; Lerrel Pinto; Saurabh Gupta 001; Abhinav Gupta 001 (CoRR, 2019)

Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping. - Adithyavairavan Murali; Weiyu Liu; Kenneth Marino; Sonia Chernova; Abhinav Gupta 001 (CoRL, 2020)

6-DOF Grasping for Target-driven Object Manipulation in Clutter. - Adithyavairavan Murali; Arsalan Mousavian; Clemens Eppner; Chris Paxton 001; Dieter Fox (ICRA, 2020)

Data-Driven Robotic Grasping in the Wild. - Adithyavairavan Murali (2021)

Motion Policy Networks. - Adam Fishman; Adithyavairavan Murali; Clemens Eppner; Bryan Peele; Byron Boots; Dieter Fox (CoRL, 2022)

HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers. - Yu-Wei Chao; Chris Paxton 001; Yu Xiang 001; Wei Yang 019; Balakumar Sundaralingam; Tao Chen 046; Adithyavairavan Murali; Maya Cakmak; Dieter Fox (ICRA, 2022)

Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions. - Yun-Chun Chen; Adithyavairavan Murali; Balakumar Sundaralingam; Wei Yang 019; Animesh Garg; Dieter Fox (CoRR, 2022)

M2T2: Multi-Task Masked Transformer for Object-centric Pick and Place. - Wentao Yuan; Adithyavairavan Murali; Arsalan Mousavian; Dieter Fox (CoRL, 2023)

CabiNet: Scaling Neural Collision Detection for Object Rearrangement with Procedural Scene Generation. - Adithyavairavan Murali; Arsalan Mousavian; Clemens Eppner; Adam Fishman; Dieter Fox (ICRA, 2023)

DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning. - Huang Huang; Balakumar Sundaralingam; Arsalan Mousavian; Adithyavairavan Murali; Ken Goldberg; Dieter Fox (CoRL, 2024)

RoboPoint: A Vision-Language Model for Spatial Affordance Prediction in Robotics. - Wentao Yuan; Jiafei Duan; Valts Blukis; Wilbert Pumacay; Ranjay Krishna; Adithyavairavan Murali; Arsalan Mousavian; Dieter Fox (CoRL, 2024)

scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation. - Clemens Eppner; Adithyavairavan Murali; Caelan Reed Garrett; Rowland O'Flaherty; Tucker Hermans; Wei Yang 019; Dieter Fox (Zenodo, 2025)

scene_synthesizer: A Python Library for Procedural Scene Generation in Robot Manipulation. - Clemens Eppner; Adithyavairavan Murali; Caelan Reed Garrett; Rowland O'Flaherty; Tucker Hermans; Wei Yang 019; Dieter Fox (J. Open Source Softw., 2025)

GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training. - Adithyavairavan Murali; Balakumar Sundaralingam; Yu-Wei Chao; Wentao Yuan; Jun Yamada; Mark Carlson; Fabio Ramos 001; Stan Birchfield; Dieter Fox; Clemens Eppner (CoRR, 2025)