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


Conference & Journal

No. Authors Title Year Venue
[13] A. Lambert, B. Sundaralingam, M. Mukadam, N. Ratliff, B. Boots, & D. Fox. Joint Inference of Physics-Based Tracking and Force Estimation in Planar Pushing
[pdf coming soon]		 2019 International Conference on Robotics and Automation (ICRA)
[12] C. Cheng, M. Mukadam, J. Issac, S. Birchfield, D. Fox, B. Boots, & N. Ratliff RMPflow: A Computational Graph for Automatic Motion Policy Generation
[pdf coming soon][arxiv][video]		 2018 International Workshop on the Algorithmic Foundations of Robotics (WAFR)
[11] M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, & B. Boots Learning Generalizable Robot Skills from Demonstrations in Cluttered Environments
[pdf][arxiv][video]		 2018 International Conference on Intelligent Robots and Systems (IROS)
[10] M. Mukadam*, J. Dong*, F. Dellaert, & B. Boots

 STEAP: Simultaneous Trajectory Estimation and Planning
(Invited submission from RSS 2017)
[pdf][arxiv]
 2018 Autonomous Robots (AuRo)
[9] M. Mukadam*, J. Dong*, X. Yan, F. Dellaert, & B. Boots
 Continuous-Time Gaussian Process Motion Planning via Probabilistic Inference
[pdf][arxiv]		 2018 International Journal of Robotics Research (IJRR)
[8] J. Dong, M. Mukadam, B. Boots, & F. Dellaert Sparse Gaussian Processes on Matrix Lie Groups: A Unified Framework for Optimizing Continuous-Time Trajectories
[pdf]		 2018 International Conference on Robotics and Automation (ICRA)
[7] M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, & B. Boots Towards Robust Skill Generalization: Unifying Learning from Demonstration and Motion Planning
(Selected for plenary presentation: 8% acceptance rate)
[pdf][video][talk][code]		 2017 Conference on Robot Learning (CoRL)
[6] M. Mukadam, J. Dong,
F. Dellaert, & B. Boots		 Simultaneous Trajectory Estimation and Planning via Probabilistic Inference
[pdf][code][video][slides]		 2017 Robotics: Science and Systems (RSS)
[5] M. Mukadam, C. Cheng, X. Yan, & B. Boots Approximately Optimal Continuous-Time Motion Planning and Control via Probabilistic Inference
[pdf][arxiv][video]		 2017 International Conference on Robotics and Automation (ICRA)
[4] E. Huang, M. Mukadam, Z. Liu, & B. Boots Motion Planning with Graph-Based Trajectories and Gaussian Process Inference
[pdf][video]		 2017 International Conference on Robotics and Automation (ICRA)
[3] J. Dong, M. Mukadam,
F. Dellaert, & B. Boots		 Motion Planning as Probabilistic Inference using Gaussian Processes and Factor Graphs
[pdf][code][video][talk]		 2016 Robotics: Science and Systems (RSS)
[2] M. Mukadam, X. Yan, & B. Boots Gaussian Process Motion Planning
[pdf][video] 		2016 International Conference on Robotics and Automation (ICRA)
[1] M. Mukadam, A. Borum, & T. Bretl
 Quasi-static Manipulation of a Planar Elastic Rod using Multiple Robotic Grippers
[pdf][video]		 2014 International Conference on Intelligent Robots and Systems (IROS)

Refereed Workshop

No. Authors Title Year Venue
[5] M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, & B. Boots
 Robot Skill Learning from Demonstrations in Cluttered Environments
[pdf]
 2018 RSS Workshop on Learning and Inference in Robotics: Integrating Structure, Priors and Models
[4] M. Mukadam, A. Cosgun, A. Nakhaei, & K. Fujimura Tactical Decision Making for Lane Changing with Deep Reinforcement Learning
[pdf]
 2017 NIPS Workshop on Machine Learning for Intelligent Transportation Systems
[3] M. Mukadam, J. Dong, 
F. Dellaert, & B. Boots 		STEAP: Towards Online Estimation and Replanning
[pdf]
 2017 RSS Workshop on POMDPs in Robotics
[2] M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, & B. Boots
 Towards Robust Skill Generalization: Unifying LfD and Motion Planning
[pdf] 		2017 RSS Workshop on Data-Driven Robotic Manipulation
[1] M. A. Rana, M. Mukadam, S. R. Ahmadzadeh, S. Chernova, & B. Boots
 Skill Generalization via Inference-based Planning
[pdf]
 2017 RSS Workshop on Mathematical Models, Algorithms, and Human-Robot Interaction