Quasi-static manipulation of a planar elastic rod using multiple robotic grippers. - Mustafa Mukadam; Andy Borum; Timothy Bretl (IROS, 2014)

Gaussian Process Motion planning. - Mustafa Mukadam; Xinyan Yan; Byron Boots (ICRA, 2016)

Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs. - Jing Dong 002; Mustafa Mukadam; Frank Dellaert; Byron Boots (Robotics: Science and Systems, 2016)

Towards Robust Skill Generalization: Unifying Learning from Demonstration and Motion Planning. - Muhammad Asif Rana; Mustafa Mukadam; Seyed Reza Ahmadzadeh; Sonia Chernova; Byron Boots (CoRL, 2017)

Motion planning with graph-based trajectories and Gaussian process inference. - Eric Huang; Mustafa Mukadam; Zhen Liu; Byron Boots (ICRA, 2017)

Approximately optimal continuous-time motion planning and control via Probabilistic Inference. - Mustafa Mukadam; Ching-An Cheng; Xinyan Yan; Byron Boots (ICRA, 2017)

Simultaneous Trajectory Estimation and Planning via Probabilistic Inference. - Mustafa Mukadam; Jing Dong 002; Frank Dellaert; Byron Boots (Robotics: Science and Systems, 2017)

Sparse Gaussian Processes on Matrix Lie Groups: A Unified Framework for Optimizing Continuous-Time Trajectories. - Jing Dong 002; Mustafa Mukadam; Byron Boots; Frank Dellaert (ICRA, 2018)

Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments. - Muhammad Asif Rana; Mustafa Mukadam; Seyed Reza Ahmadzadeh; Sonia Chernova; Byron Boots (IROS, 2018)

RMPflow: A Computational Graph for Automatic Motion Policy Generation. - Ching-An Cheng; Mustafa Mukadam; Jan Issac; Stan Birchfield; Dieter Fox; Byron Boots; Nathan D. Ratliff (WAFR, 2018)

RMPflow: A Computational Graph for Automatic Motion Policy Generation. - Ching-An Cheng; Mustafa Mukadam; Jan Issac; Stan Birchfield; Dieter Fox; Byron Boots; Nathan D. Ratliff (CoRR, 2018)

Continuous-time Gaussian process motion planning via probabilistic inference. - Mustafa Mukadam; Jing Dong 002; Xinyan Yan; Frank Dellaert; Byron Boots (Int. J. Robotics Res., 2018)

Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping. - Mustafa Mukadam; Ching-An Cheng; Dieter Fox; Byron Boots; Nathan D. Ratliff (CoRL, 2019)

Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations. - Muhammad Asif Rana; Anqi Li 001; Harish Ravichandar; Mustafa Mukadam; Sonia Chernova; Dieter Fox; Byron Boots; Nathan D. Ratliff (CoRL, 2019)

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)

Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference. - Keshav Kolur; Sahit Chintalapudi; Byron Boots; Mustafa Mukadam (IROS, 2019)

Multi-objective Policy Generation for Multi-robot Systems Using Riemannian Motion Policies. - Anqi Li 001; Mustafa Mukadam; Magnus Egerstedt; Byron Boots (ISRR, 2019)

STEAP: simultaneous trajectory estimation and planning. - Mustafa Mukadam; Jing Dong 002; Frank Dellaert; Byron Boots (Auton. Robots, 2019)

Structured learning and inference for robot motion generation. - Mustafa Mukadam (2019)

Differentiable Gaussian Process Motion Planning. - Mohak Bhardwaj; Byron Boots; Mustafa Mukadam (ICRA, 2020)

Encoding Physical Constraints in Differentiable Newton-Euler Algorithm. - Giovanni Sutanto; Austin S. Wang; Yixin Lin; Mustafa Mukadam; Gaurav S. Sukhatme; Akshara Rai; Franziska Meier (L4DC, 2020)

Neural Dynamic Policies for End-to-End Sensorimotor Learning. - Shikhar Bahl; Mustafa Mukadam; Abhinav Gupta 001; Deepak Pathak (NeurIPS, 2020)

RMPflow: A Geometric Framework for Generation of Multi-Task Motion Policies. - Ching-An Cheng; Mustafa Mukadam; Jan Issac; Stan Birchfield; Dieter Fox; Byron Boots; Nathan D. Ratliff (CoRR, 2020)

Learning Tactile Models for Factor Graph-based State Estimation. - Paloma Sodhi; Michael Kaess; Mustafa Mukadam; Stuart Anderson (CoRR, 2020)

A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation. - Bernardo Aceituno-Cabezas; Alberto Rodriguez 003; Shubham Tulsiani; Abhinav Gupta 001; Mustafa Mukadam (CoRL, 2021)

Taskography: Evaluating robot task planning over large 3D scene graphs. - Christopher Agia; Krishna Murthy Jatavallabhula; Mohamed Khodeir; Ondrej Miksik; Vibhav Vineet; Mustafa Mukadam; Liam Paull; Florian Shkurti (CoRL, 2021)

LEO: Learning Energy-based Models in Factor Graph Optimization. - Paloma Sodhi; Eric Dexheimer; Mustafa Mukadam; Stuart Anderson; Michael Kaess (CoRL, 2021)

Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation. - Taosha Fan; Kalyan Vasudev Alwala; Donglai Xiang; Weipeng Xu; Todd D. Murphey; Mustafa Mukadam (ICCV, 2021)

Where2Act: From Pixels to Actions for Articulated 3D Objects. - Kaichun Mo; Leonidas J. Guibas; Mustafa Mukadam; Abhinav Gupta 001; Shubham Tulsiani (ICCV, 2021)

Batteries, camera, action! Learning a semantic control space for expressive robot cinematography. - Rogerio Bonatti; Arthur Bucker; Sebastian A. Scherer; Mustafa Mukadam; Jessica K. Hodgins (ICRA, 2021)

Learning Tactile Models for Factor Graph-based Estimation. - Paloma Sodhi; Michael Kaess; Mustafa Mukadam; Stuart Anderson (ICRA, 2021)

Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning. - Kalyan Vasudev Alwala; Mustafa Mukadam (IROS, 2021)

No RL, No Simulation: Learning to Navigate without Navigating. - Meera Hahn; Devendra Singh Chaplot; Shubham Tulsiani; Mustafa Mukadam; James M. Rehg; Abhinav Gupta 001 (NeurIPS, 2021)

Habitat 2.0: Training Home Assistants to Rearrange their Habitat. - 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; et al. (NeurIPS, 2021)

LEO: Learning Energy-based Models in Graph Optimization. - Paloma Sodhi; Eric Dexheimer; Mustafa Mukadam; Stuart Anderson; Michael Kaess (CoRR, 2021)

RMPflow: A Geometric Framework for Generation of Multitask Motion Policies. - Ching-An Cheng; Mustafa Mukadam; Jan Issac; Stan Birchfield; Dieter Fox; Byron Boots; Nathan D. Ratliff (IEEE Trans Autom. Sci. Eng., 2021)

MidasTouch: Monte-Carlo inference over distributions across sliding touch. - Sudharshan Suresh; Zilin Si; Stuart Anderson; Michael Kaess; Mustafa Mukadam (CoRL, 2022)

In-Hand Gravitational Pivoting Using Tactile Sensing. - Jason Toskov; Rhys Newbury; Mustafa Mukadam; Dana Kulic; Akansel Cosgun (CoRL, 2022)

PatchGraph: In-hand tactile tracking with learned surface normals. - Paloma Sodhi; Michael Kaess; Mustafa Mukadam; Stuart Anderson (ICRA, 2022)

Theseus: A Library for Differentiable Nonlinear Optimization. - 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 002; Brandon Amos; et al. (NeurIPS, 2022)

iSDF: Real-Time Neural Signed Distance Fields for Robot Perception. - Joseph Ortiz; Alexander Clegg; Jing Dong 002; Edgar Sucar; David Novotný; Michael Zollhöfer; Mustafa Mukadam (Robotics: Science and Systems, 2022)

Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing. - Carolina Higuera; Siyuan Dong; Byron Boots; Mustafa Mukadam (ICRA, 2023)

Neural Grasp Distance Fields for Robot Manipulation. - Thomas Weng; David Held; Franziska Meier; Mustafa Mukadam (ICRA, 2023)

USA-Net: Unified Semantic and Affordance Representations for Robot Memory. - Benjamin Bolte; Austin S. Wang; Jimmy Yang; Mustafa Mukadam; Mrinal Kalakrishnan; Chris Paxton 001 (IROS, 2023)

TaskMet: Task-driven Metric Learning for Model Learning. - Dishank Bansal; Ricky T. Q. Chen; Mustafa Mukadam; Brandon Amos (NeurIPS, 2023)

Decentralization and Acceleration Enables Large-Scale Bundle Adjustment. - Taosha Fan; Joseph Ortiz; Ming Hsiao; Maurizio Monge; Jing Dong 002; Todd D. Murphey; Mustafa Mukadam (Robotics: Science and Systems, 2023)

Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models. - Carolina Higuera; Byron Boots; Mustafa Mukadam (CoRR, 2023)

Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies. - Carolina Higuera; Joseph Ortiz; Haozhi Qi; Luis Pineda; Byron Boots; Mustafa Mukadam (CoRR, 2023)

Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation. - Sudharshan Suresh; Haozhi Qi; Tingfan Wu; Taosha Fan; Luis Pineda; Mike Lambeta; Jitendra Malik; Mrinal Kalakrishnan; Roberto Calandra; Michael Kaess; Joseph Ortiz; Mustafa Mukadam (CoRR, 2023)

Sparsh: Self-supervised touch representations for vision-based tactile sensing. - Carolina Higuera; Akash Sharma; Chaithanya Krishna Bodduluri; Taosha Fan; Patrick Lancaster; Mrinal Kalakrishnan; Michael Kaess; Byron Boots; Mike Lambeta; Tingfan Wu; Mustafa Mukadam (CoRL, 2024)

A Touch, Vision, and Language Dataset for Multimodal Alignment. - Letian Fu; Gaurav Datta; Huang Huang; William Chung-Ho Panitch; Jaimyn Drake; Joseph Ortiz; Mustafa Mukadam; Mike Lambeta; Roberto Calandra; Ken Goldberg (ICML, 2024)

NeuralFeels with neural fields: Visuotactile perception for in-hand manipulation. - Sudharshan Suresh; Haozhi Qi; Tingfan Wu; Taosha Fan; Luis Pineda; Mike Lambeta; Jitendra Malik; Mrinal Kalakrishnan; Roberto Calandra; Michael Kaess; Joseph Ortiz; Mustafa Mukadam (Sci. Robotics, 2024)

DexterityGen: Foundation Controller for Unprecedented Dexterity. - 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; et al. (CoRR, 2025)

OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction. - Huang Huang; Fangchen Liu; Letian Fu; Tingfan Wu; Mustafa Mukadam; Jitendra Malik; Ken Goldberg; Pieter Abbeel (CoRR, 2025)

Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm. - Zhao-Heng Yin; Changhao Wang; Luis Pineda; Chaithanya Krishna Bodduluri; Tingfan Wu; Pieter Abbeel; Mustafa Mukadam (CoRR, 2025)

Self-supervised perception for tactile skin covered dexterous hands. - 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 (CoRR, 2025)

Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation. - Carolina Higuera; Akash Sharma; Taosha Fan; Chaithanya Krishna Bodduluri; Byron Boots; Michael Kaess; Mike Lambeta; Tingfan Wu; Zixi Liu; Francois Robert Hogan; Mustafa Mukadam (CoRR, 2025)