See full list of publications and citations on my google scholar page.

Preprint

Differentiable Gaussian Process Motion Planning
Mohak Bhardwaj, Byron Boots, & Mustafa Mukadam
arXiv:1907.09591, 2019

2019

Riemannian Motion Policy Fusion through Learnable Lyapunov Function Reshaping
Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, & Nathan Ratliff
Conference on Robot Learning (CoRL), 2019

Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations
Asif Rana, Anqi Li, Harish Ravichandar, Mustafa Mukadam, Sonia Chernova, Dieter Fox, Byron Boots, & Nathan Ratliff
Conference on Robot Learning (CoRL), 2019

Multi-Objective Policy Generation for Multi-Robot Systems Using Riemannian Motion Policies
Anqi Li, Mustafa Mukadam, Magnus Egerstedt, & Byron Boots
International Symposium on Robotics Research (ISRR), 2019

Structured Learning and Inference for Robot Motion Generation
Mustafa Mukadam
Ph.D. Dissertation, Georgia Institute of Technology, 2019
[pdf]

Online Motion Planning Over Multiple Homotopy Classes with Gaussian Process Inference
Keshav Kolur*, Sahit Chintalapudi*, Byron Boots, & Mustafa Mukadam
International Conference on Intelligent Robots and Systems (IROS), 2019

Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing
Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan Ratliff, Byron Boots, & Dieter Fox.
International Conference on Robotics and Automation (ICRA), 2019

2018

RMPflow: A Computational Graph for Automatic Motion Policy Generation
Ching-An Cheng, Mustafa Mukadam, Jan Issac, Stan Birchfield, Dieter Fox, Byron Boots, & Nathan Ratliff
International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018

Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments
Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, & Byron Boots
International Conference on Intelligent Robots and Systems (IROS), 2018

STEAP: Simultaneous Trajectory Estimation and Planning
Mustafa Mukadam*, Jing Dong*, Frank Dellaert, & Byron Boots
Autonomous Robots (AuRo), 2018
Invited Paper from RSS 2017

Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference
Mustafa Mukadam*, Jing Dong*, Xinyan Yan, Frank Dellaert, & Byron Boots
International Journal of Robotics Research (IJRR), 2018
Winner of IJRR Paper of the Year Award

Sparse Gaussian Processes on Matrix Lie Groups: A Unified Framework for Optimizing Continuous-Time Trajectories
Jing Dong, Mustafa Mukadam, Byron Boots, & Frank Dellaert
International Conference on Robotics and Automation (ICRA), 2018
[pdf]

2017

Towards Robust Skill Generalization: Unifying Learning from Demonstration and Motion Planning
Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, & Byron Boots
Conference on Robot Learning (CoRL), 2017
Long Talk, 8% Acceptance Rate

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

Approximately Optimal Continuous-Time Motion Planning and Control via Probabilistic Inference
Mustafa Mukadam, Ching-An Cheng, Xinyan Yan, & Byron Boots
International Conference on Robotics and Automation (ICRA), 2017

Motion Planning with Graph-Based Trajectories and Gaussian Process Inference
Eric Huang, Mustafa Mukadam, Zhen Liu, & Byron Boots
International Conference on Robotics and Automation (ICRA), 2017

2016

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

Gaussian Process Motion Planning
Mustafa Mukadam, Xinyan Yan, & Byron Boots
International Conference on Robotics and Automation (ICRA), 2016

2014

Quasi-static Manipulation of a Planar Elastic Rod using Multiple Robotic Grippers
Mustafa Mukadam, Andy Borum, & Timothy Bretl
International Conference on Intelligent Robots and Systems (IROS), 2014

Patent

Autonomous Vehicle Policy Generation
Mustafa Mukadam, Akansel Cosgun, Alireza Nakhaei, & Kikuo Fujimura
US Patent App. 16/103,847, 2019
[pdf]

Refereed Workshop

Interaction-Aware Planning via Nash Equilibria for Manipulation in a Shared Workspace
Shray Bansal, Mustafa Mukadam, & Charles Isbell
ICRA Workshop on Human Movement Science for Physical Human-Robot Collaboration, 2019
[pdf]

Robot Skill Learning from Demonstrations in Cluttered Environments
Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, & Byron Boots
RSS Workshop on Learning and Inference in Robotics: Integrating Structure, Priors and Models, 2018
[pdf]

Tactical Decision Making for Lane Changing with Deep Reinforcement Learning
Mustafa Mukadam, Akansel Cosgun, Alireza Nakhaei, & Kikuo Fujimura
NIPS Workshop on Machine Learning for Intelligent Transportation Systems, 2017
[pdf]

STEAP: Towards Online Estimation and Replanning
Mustafa Mukadam, Jing Dong, Frank Dellaert, & Byron Boots
RSS Workshop on POMDPs in Robotics, 2017
[pdf]

Towards Robust Skill Generalization: Unifying LfD and Motion Planning
Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, & Byron Boots
RSS Workshop on Data-Driven Robotic Manipulation, 2017
[pdf]

Skill Generalization via Inference-based Planning
Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, & Byron Boots
RSS Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction, 2017
[pdf]