Planning Multi-fingered Grasps as Probabilistic Inference in a Learned Deep Network. - Qingkai Lu; Kautilya Chenna; Balakumar Sundaralingam; Tucker Hermans (ISRR, 2017)

Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization. - Balakumar Sundaralingam; Tucker Hermans (Robotics: Science and Systems, 2017)

Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects. - Jonathan Tremblay; Thang To; Balakumar Sundaralingam; Yu Xiang 001; Dieter Fox; Stan Birchfield (CoRL, 2018)

Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation. - Balakumar Sundaralingam; Tucker Hermans (ICRA, 2018)

Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing. - Alexander Sasha Lambert; Mustafa Mukadam; Balakumar Sundaralingam; Nathan D. Ratliff; Byron Boots; Dieter Fox (ICRA, 2019)

Robust Learning of Tactile Force Estimation through Robot Interaction. - Balakumar Sundaralingam; Alexander Sasha Lambert; Ankur Handa; Byron Boots; Tucker Hermans; Stan Birchfield; Nathan D. Ratliff; Dieter Fox (ICRA, 2019)

Learning Latent Space Dynamics for Tactile Servoing. - Giovanni Sutanto; Nathan D. Ratliff; Balakumar Sundaralingam; Yevgen Chebotar; Zhe Su; Ankur Handa; Dieter Fox (ICRA, 2019)

Relaxed-rigidity constraints: kinematic trajectory optimization and collision avoidance for in-grasp manipulation. - Balakumar Sundaralingam; Tucker Hermans (Auton. Robots, 2019)

Learning Continuous 3D Reconstructions for Geometrically Aware Grasping. - Mark Van der Merwe; Qingkai Lu; Balakumar Sundaralingam; Martin Matak; Tucker Hermans (ICRA, 2020)

Multi-Fingered Grasp Planning via Inference in Deep Neural Networks. - Qingkai Lu; Mark Van der Merwe; Balakumar Sundaralingam; Tucker Hermans (CoRR, 2020)

Benchmarking In-Hand Manipulation. - Silvia Cruciani; Balakumar Sundaralingam; Kaiyu Hang; Vikash Kumar; Tucker Hermans; Danica Kragic (IEEE Robotics Autom. Lett., 2020)

Multifingered Grasp Planning via Inference in Deep Neural Networks: Outperforming Sampling by Learning Differentiable Models. - Qingkai Lu; Mark Van der Merwe; Balakumar Sundaralingam; Tucker Hermans (IEEE Robotics Autom. Mag., 2020)

Kinematic Planning and Dynamics Inference for In-Hand Manipulation. - Balakumar Sundaralingam (2020)

STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation. - Mohak Bhardwaj; Balakumar Sundaralingam; Arsalan Mousavian; Nathan D. Ratliff; Dieter Fox; Fabio Ramos 001; Byron Boots (CoRL, 2021)

Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections. - Yashraj S. Narang; Balakumar Sundaralingam; Miles Macklin; Arsalan Mousavian; Dieter Fox (ICRA, 2021)

Joint Space Control via Deep Reinforcement Learning. - Visak Kumar; David Hoeller; Balakumar Sundaralingam; Jonathan Tremblay; Stan Birchfield (IROS, 2021)

Fast Joint Space Model-Predictive Control for Reactive Manipulation. - Mohak Bhardwaj; Balakumar Sundaralingam; Arsalan Mousavian; Nathan D. Ratliff; Dieter Fox; Fabio Ramos 001; Byron Boots (CoRR, 2021)

DefGraspSim: Simulation-based grasping of 3D deformable objects. - Isabella Huang; Yashraj S. Narang; Clemens Eppner; Balakumar Sundaralingam; Miles Macklin; Tucker Hermans; Dieter Fox (CoRR, 2021)

Interpreting and predicting tactile signals for the SynTouch BioTac. - Yashraj S. Narang; Balakumar Sundaralingam; Karl Van Wyk; Arsalan Mousavian; Dieter Fox (Int. J. Robotics Res., 2021)

In-Hand Object-Dynamics Inference Using Tactile Fingertips. - Balakumar Sundaralingam; Tucker Hermans (IEEE Trans. Robotics, 2021)

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)

Model Predictive Control for Fluid Human-to-Robot Handovers. - Wei Yang 019; Balakumar Sundaralingam; Chris Paxton 001; Iretiayo Akinola; Yu-Wei Chao; Maya Cakmak; Dieter Fox (ICRA, 2022)

Correcting Robot Plans with Natural Language Feedback. - Pratyusha Sharma; Balakumar Sundaralingam; Valts Blukis; Chris Paxton 001; Tucker Hermans; Antonio Torralba 001; Jacob Andreas; Dieter Fox (Robotics: Science and Systems, 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)

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. - 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; et al. (CoRR, 2022)

Learning Perceptual Concepts by Bootstrapping From Human Queries. - Andreea Bobu; Chris Paxton 001; Wei Yang 019; Balakumar Sundaralingam; Yu-Wei Chao; Maya Cakmak; Dieter Fox (IEEE Robotics Autom. Lett., 2022)

DefGraspSim: Physics-Based Simulation of Grasp Outcomes for 3D Deformable Objects. - Isabella Huang; Yashraj S. Narang; Clemens Eppner; Balakumar Sundaralingam; Miles Macklin; Ruzena Bajcsy; Tucker Hermans; Dieter Fox (IEEE Robotics Autom. Lett., 2022)

Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior. - Karl Van Wyk; Mandy Xie; Anqi Li 001; Muhammad Asif Rana; Buck Babich; Bryan Peele; Qian Wan; Iretiayo Akinola; Balakumar Sundaralingam; Dieter Fox; Byron Boots; Nathan D. Ratliff (IEEE Robotics Autom. Lett., 2022)

Ready, Set, Plan! Planning to Goal Sets Using Generalized Bayesian Inference. - Jana Pavlasek; Stanley Robert Lewis; Balakumar Sundaralingam; Fabio Ramos 001; Tucker Hermans (CoRL, 2023)

DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality. - Ankur Handa; Arthur Allshire; Viktor Makoviychuk; Aleksei Petrenko; Ritvik Singh; Jingzhou Liu; Denys Makoviichuk; Karl Van Wyk; Alexander Zhurkevich; Balakumar Sundaralingam; Yashraj S. Narang (ICRA, 2023)

CuRobo: Parallelized Collision-Free Robot Motion Generation. - Balakumar Sundaralingam; Siva Kumar Sastry Hari; Adam Fishman; Caelan Reed Garrett; Karl Van Wyk; Valts Blukis; Alexander Millane; Helen Oleynikova; Ankur Handa; Fabio Ramos 001; Nathan D. Ratliff; Dieter Fox (ICRA, 2023)

RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control. - Zhenggang Tang; Balakumar Sundaralingam; Jonathan Tremblay; Bowen Wen; Ye Yuan; Stephen Tyree; Charles T. Loop; Alexander G. Schwing; Stan Birchfield (ICRA, 2023)

VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning. - Yu-Shun Hsiao; Siva Kumar Sastry Hari; Balakumar Sundaralingam; Jason Yik; Thierry Tambe; Charbel Sakr; Stephen W. Keckler; Vijay Janapa Reddi (IROS, 2023)

Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation. - Constantinos Chamzas; Caelan Reed Garrett; Balakumar Sundaralingam; Lydia E. Kavraki; Dieter Fox (CoRR, 2023)

Diff-DOPE: Differentiable Deep Object Pose Estimation. - Jonathan Tremblay; Bowen Wen; Valts Blukis; Balakumar Sundaralingam; Stephen Tyree; Stan Birchfield (CoRR, 2023)

CuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation. - Balakumar Sundaralingam; Siva Kumar Sastry Hari; Adam Fishman; Caelan Reed Garrett; Karl Van Wyk; Valts Blukis; Alexander Millane; Helen Oleynikova; Ankur Handa; Fabio Ramos 001; Nathan D. Ratliff; Dieter Fox (CoRR, 2023)

Avoid Everything: Model-Free Collision Avoidance with Expert-Guided Fine-Tuning. - Adam Fishman; Aaron Walsman; Mohak Bhardwaj; Wentao Yuan; Balakumar Sundaralingam; Byron Boots; Dieter Fox (CoRL, 2024)

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

Inference-Time Policy Steering through Human Interactions. - Yanwei Wang; Lirui Wang; Yilun Du; Balakumar Sundaralingam; Xuning Yang; Yu-Wei Chao; Claudia Pérez-D'Arpino; Dieter Fox; Julie Shah (CoRR, 2024)

Dynamic Non-Prehensile Object Transport via Model-Predictive Reinforcement Learning. - Neel Jawale; Byron Boots; Balakumar Sundaralingam; Mohak Bhardwaj (CoRR, 2024)

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)