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

Preprint

Habitat 2.0: Training Home Assistants to Rearrange their Habitat 
Andrew Szot, Alex Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimir Vondrus, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, & Dhruv Batra
arXiv:2106.14405, 2021
[arxiv]

2021

Revitalizing Optimization for 3D Human Pose and Shape Estimation: A Sparse Constrained Formulation
Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd Murphey, & Mustafa Mukadam
International Conference on Computer Vision (ICCV), 2021
[arxiv]

Where2Act: From Pixels to Actions for Articulated 3D Objects
Kaichun Mo, Leonidas Guibas, Mustafa Mukadam, Abhinav Gupta, & Shubham Tulsiani
International Conference on Computer Vision (ICCV), 2021
[arxiv]

Joint Sampling and Trajectory Optimization over Graphs for Online Motion Planning
Kalyan Vasudev Alwala, & Mustafa Mukadam
International Conference on Intelligent Robots and Systems (IROS), 2021
[arxiv][video]

Learning Tactile Models for Factor Graph-based Estimation
Paloma Sodhi, Michael Kaess, Mustafa Mukadam, & Stuart Anderson
International Conference on Robotics and Automation (ICRA), 2021
[arxiv][video][webpage]

Batteries, camera, action! Learning a semantic control space for expressive robot cinematography
Rogerio Bonatti, Arthur Bucker, Sebastian Scherer, Mustafa Mukadam, & Jessica Hodgins
International Conference on Robotics and Automation (ICRA), 2021
[arxiv][video][webpage]

2020

Neural Dynamic Policies for End-to-End Sensorimotor Learning
Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, & Deepak Pathak
Neural Information Processing Systems (NeurIPS), 2020
Spotlight, 3% Acceptance Rate

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 Ratliff
Transactions on Automation Science and Engineering (T-ASE), 2020
Invited Paper

Encoding Physical Constraints in Differentiable Newton-Euler Algorithm
Giovanni Sutanto, Austin Wang, Yixin Lin, Mustafa Mukadam, Gaurav Sukhatme, Akshara Rai, & Franziska Meier
Learning for Dynamics and Control (L4DC), 2020

Differentiable Gaussian Process Motion Planning
Mohak Bhardwaj, Byron Boots, & Mustafa Mukadam
International Conference on Robotics and Automation (ICRA), 2020

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

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 10,739,776 B2, 2020
[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]

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]