BS
Balakumar Sundaralingam
cs.ROcs.LGcs.CVcs.AIcs.CLcs.HCArtificial Limbscs.ARcs.DCcs.SY
On Valency
published · living versionsW_dc9w8uks·v1 · currentpublished
OpenJaws: An Open Hardware UMI Framework with Stereo Localization for Generalist Manipulation
with Adithyavairavan Murali, Yash Oza, Karanbir Chahal, Neel Jawale +4
1 version
Preprints & journals
38 papers in the corpus · 2018–2026GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks2607.05369v2 · Kaiyuan Chen, Shuangyu Xie, Letian Fu et al.2026 · 0 citationsarXiv
GraspGen-X: Cross-Embodiment 6-DOF Diffusion-based Grasping2606.00998v1 · Beining Han, Yu-Wei Chao, Erwin Coumans et al.2026 · 0 citationsarXiv
cuRoboV2: Dynamics-Aware Motion Generation with Depth-Fused Distance Fields for High-DoF Robots2603.05493v2 · Balakumar Sundaralingam, Adithyavairavan Murali, Stan Birchfield2026 · 0 citationsarXiv
VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning2510.14930v2 · Binghao Huang, Jie Xu, Iretiayo Akinola et al.2025 · 0 citationsarXiv
Grasp-MPC: Closed-Loop Visual Grasping via Value-Guided Model Predictive Control2509.06201v1 · Jun Yamada, Adithyavairavan Murali, Ajay Mandlekar et al.2025 · 0 citationsarXiv
GraspGen: A Diffusion-based Framework for 6-DOF Grasping with On-Generator Training2507.13097v1 · Adithyavairavan Murali, Balakumar Sundaralingam, Yu-Wei Chao et al.2025 · 1 citationarXiv
Dynamic Non-Prehensile Object Transport via Model-Predictive Reinforcement Learning2412.00086v1 · Neel Jawale, Byron Boots, Balakumar Sundaralingam et al.2024 · 2 citationsarXiv
Inference-Time Policy Steering through Human Interactions2411.16627v2 · Yanwei Wang, Lirui Wang, Yilun Du et al.2024 · 7 citationsarXiv
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning2410.16727v1 · Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian et al.2024 · 2 citationsarXiv
cuRobo: Parallelized Collision-Free Minimum-Jerk Robot Motion Generation2310.17274v2 · Balakumar Sundaralingam, Siva Kumar Sastry Hari, Adam Fishman et al.2023 · 4 citationsarXiv
VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning2310.07854v1 · Yu-Shun Hsiao, Siva Kumar Sastry Hari, Balakumar Sundaralingam et al.2023 · 3 citationsarXiv
Diff-DOPE: Differentiable Deep Object Pose Estimation2310.00463v1 · Jonathan Tremblay, Bowen Wen, Valts Blukis et al.2023 · 7 citationsarXiv
Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation2307.04040v1 · Constantinos Chamzas, Caelan Garrett, Balakumar Sundaralingam et al.2023 · 1 citationarXiv
DeXtreme: Transfer of Agile In-hand Manipulation from Simulation to Reality2210.13702v2 · Ankur Handa, Arthur Allshire, Viktor Makoviychuk et al.2022 · 100 citationsarXiv
RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control2210.11668v2 · Zhenggang Tang, Balakumar Sundaralingam, Jonathan Tremblay et al.2022 · 6 citationsarXiv
Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions2206.14854v1 · Yun-Chun Chen, Adithyavairavan Murali, Balakumar Sundaralingam et al.2022 · 2 citationsarXiv
HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers2205.09747v1 · Yu-Wei Chao, Chris Paxton, Yu Xiang et al.2022 · 32 citationsarXiv
Correcting Robot Plans with Natural Language Feedback2204.05186v1 · Pratyusha Sharma, Balakumar Sundaralingam, Valts Blukis et al.2022 · 76 citationsarXiv
Model Predictive Control for Fluid Human-to-Robot Handovers2204.00134v1 · Wei Yang, Balakumar Sundaralingam, Chris Paxton et al.2022 · 20 citationsarXiv
DefGraspSim: Physics-based simulation of grasp outcomes for 3D deformable objects2203.11274v1 · Isabella Huang, Yashraj Narang, Clemens Eppner et al.2022 · 39 citationsarXiv
Learning Perceptual Concepts by Bootstrapping from Human Queries2111.05251v3 · Andreea Bobu, Chris Paxton, Wei Yang et al.2021 · 7 citationsarXiv
Geometric Fabrics: Generalizing Classical Mechanics to Capture the Physics of Behavior2109.10443v2 · Karl Van Wyk, Mandy Xie, Anqi Li et al.2021 · 34 citationsarXiv
DefGraspSim: Simulation-based grasping of 3D deformable objects2107.05778v1 · Isabella Huang, Yashraj Narang, Clemens Eppner et al.2021 · 13 citationsarXiv
STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation2104.13542v2 · Mohak Bhardwaj, Balakumar Sundaralingam, Arsalan Mousavian et al.2021 · 65 citations5th Annual Conference on Robot Learning, 2021
Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections2103.16747v1 · Yashraj Narang, Balakumar Sundaralingam, Miles Macklin et al.2021 · 61 citationsarXiv
Interpreting and Predicting Tactile Signals for the SynTouch BioTac2101.05452v1 · Yashraj S. Narang, Balakumar Sundaralingam, Karl Van Wyk et al.2021 · 33 citationsarXiv
Joint Space Control via Deep Reinforcement Learning2011.06332v2 · Visak Kumar, David Hoeller, Balakumar Sundaralingam et al.2020 · 26 citationsarXiv
Replicating dynamic humerus motion using an industrial robot.33166328 · Aliaj, Klevis, Feeney, Gentry M, Sundaralingam, Balakumar et al.2021 · 5 citationsPloS one. 2020;15(11):e0242005
In-Hand Object-Dynamics Inference using Tactile Fingertips2003.13165v2 · Balakumar Sundaralingam, Tucker Hermans2020 · 33 citationsarXiv
Multi-Fingered Grasp Planning via Inference in Deep Neural Networks2001.09242v2 · Qingkai Lu, Mark Van der Merwe, Balakumar Sundaralingam et al.2020 · 9 citationsarXiv
Benchmarking In-Hand Manipulation2001.03070v1 · Silvia Cruciani, Balakumar Sundaralingam, Kaiyu Hang et al.2020 · 48 citationsarXiv
Learning Continuous 3D Reconstructions for Geometrically Aware Grasping1910.00983v2 · Mark Van der Merwe, Qingkai Lu, Balakumar Sundaralingam et al.2019 · 76 citationsarXiv
Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing1903.03699v1 · Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam et al.2019 · 23 citationsarXiv
Robust Learning of Tactile Force Estimation through Robot Interaction1810.06187v4 · Balakumar Sundaralingam, Alexander Lambert, Ankur Handa et al.2018 · 52 citationsarXiv
Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects1809.10790v1 · Jonathan Tremblay, Thang To, Balakumar Sundaralingam et al.2018 · 513 citationsarXiv
Relaxed-Rigidity Constraints: Kinematic Trajectory Optimization and Collision Avoidance for In-Grasp Manipulation1806.00942v2 · Balakumar Sundaralingam, Tucker Hermans2018 · 53 citationsarXiv
Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation1804.04292v1 · Balakumar Sundaralingam, Tucker Hermans2018 · 45 citationsarXiv
Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network1804.03289v1 · Qingkai Lu, Kautilya Chenna, Balakumar Sundaralingam et al.2018 · 73 citationsarXiv
Career total: 45 works. 38 are in this corpus.
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