Mustafa Mukadam

I am a Staff Research Scientist at FAIR (Meta), where I lead the manipulation and tactile sensing group. 

I am interested in robotics, machine learning, and AI. Prior to joining FAIR, I received a Ph.D. in Robotics from Georgia Tech where I was advised by Byron Boots.

Current openings in my team: Postdocs

Email  /  Google Scholar  /  GitHub  /  YouTube  /  Twitter

News

[2024/04] Invited talk in the Robotics Colloquium at UW

[2023/11] Guest lecture, MIT 16.485 - Visual Navigation for Autonomous Vehicles, host Luca Carlone

[2023/09] Serving as ICRA 2024 Associate Editor (Manipulation and Grasping)

[2023/05] Tactile Diffusion wins Best Paper Award at ICRA 2023 Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots)

[2023/05] Two invited talks at ICRA 2023 workshops: Distributed Graph Algorithms for Robotics and 2nd Workshop on Compliant Robot Manipulation

[2023/03] Invited talk in the robotics seminar at University of Toronto

[2022/11] Guest lecture, Learning to Plan, CMU 16-831: Statistical Techniques in Robotics, host David Held

[2022/07] Theseus: A library for differentiable nonlinear optimization (NeurIPS 2022) released; Meta AI Blog, Twitter

[2022/03] Invited talk in the Robotics Seminar at Cornell

Publications

Preprint

Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg

arXiv:2402.13232, 2024

arxiv | webpage | code 

Sudharshan Suresh, Haozhi Qi, Tingfan Wu, Taosha Fan, Luis Pineda, Mike Lambeta, Jitendra Malik, Mrinal Kalakrishnan, Roberto Calandra, Michael Kaess, Joseph Ortiz, Mustafa Mukadam

arXiv:2312.13469, 2023

arxiv | webpage | video 

Carolina Higuera, Joseph Ortiz, Haozhi Qi, Luis Pineda, Byron Boots, Mustafa Mukadam

arXiv:2309.16652, 2023

arxiv | code | video | twitter

Carolina Higuera, Byron Boots, Mustafa Mukadam

arXiv:2304.01182, 2023

Best Paper Award, ICRA 2023 Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots)

arxiv | code | video

2023

Dishank Bansal, Ricky T. Q. Chen, Mustafa Mukadam, Brandon Amos

Neural Information Processing Systems (NeurIPS), 2023

arxiv | code

Benjamin Bolte, Austin Wang, Jimmy Yang, Mustafa Mukadam, Mrinal Kalakrishnan, Chris Paxton

International Conference on Intelligent Robots and Systems (IROS), 2023

arxiv | webpage | code

Taosha Fan, Joseph Ortiz, Ming Hsiao, Maurizio Monge, Jing Dong, Todd Murphey, Mustafa Mukadam

Robotics: Science and Systems (RSS), 2023

arxiv | code

Carolina Higuera, Siyuan Dong, Byron Boots, Mustafa Mukadam

International Conference on Robotics and Automation (ICRA), 2023

arxiv | code | video

Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam

International Conference on Robotics and Automation (ICRA), 2023

arxiv | webpage | code | video

2022

Luis Pineda, Taosha Fan, Maurizio Monge, Shobha Venkataraman, Paloma Sodhi, Ricky T. Q. Chen, Joseph Ortiz, Daniel DeTone, Austin Wang, Stuart Anderson, Jing Dong, Brandon Amos, Mustafa Mukadam

Neural Information Processing Systems (NeurIPS), 2022

arxiv | webpage | code | twitter

Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, Mustafa Mukadam

Conference on Robot Learning (CoRL), 2022

Oral, 6.5% Acceptance Rate

arxiv | webpage | code | video

Jason Toskov , Rhys Newbury, Mustafa Mukadam, Dana Kulic, Akansel Cosgun

Conference on Robot Learning (CoRL), 2022

arxiv | webpage

Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotny, Michael Zollhoefer, Mustafa Mukadam

Robotics: Science and Systems (RSS), 2022

arxiv | webpage | code | video

Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

International Conference on Robotics and Automation (ICRA), 2022

arxiv | webpage | code | video

2021

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

Neural Information Processing Systems (NeurIPS), 2021

Spotlight, 3% Acceptance Rate

arxiv | webpage | code

Meera Hahn, Devendra Chaplot, Shubham Tulsiani, Mustafa Mukadam, James Rehg, Abhinav Gupta

Neural Information Processing Systems (NeurIPS), 2021

arxiv | webpage | code

Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam

Conference on Robot Learning (CoRL), 2021

arxiv | code

Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess

Conference on Robot Learning (CoRL), 2021

arxiv | video | webpage | code

Christopher Agia, Krishna Murthy Jatavallabhula, Mohamed Khodeir, Ondrej Miksik, Vibhav Vineet, Mustafa Mukadam, Liam Paull, Florian Shkurti

Conference on Robot Learning (CoRL), 2021

pdf | webpage | code

Taosha Fan, Kalyan Vasudev Alwala, Donglai Xiang, Weipeng Xu, Todd Murphey, Mustafa Mukadam

International Conference on Computer Vision (ICCV), 2021

arxiv | video | webpage | code

Kaichun Mo, Leonidas Guibas, Mustafa Mukadam, Abhinav Gupta, Shubham Tulsiani

International Conference on Computer Vision (ICCV), 2021

arxiv | webpage | code

Kalyan Vasudev Alwala, Mustafa Mukadam

International Conference on Intelligent Robots and Systems (IROS), 2021

arxiv | video | webpage | code

Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

International Conference on Robotics and Automation (ICRA), 2021

arxiv | video | webpage | code

Rogerio Bonatti, Arthur Bucker, Sebastian Scherer, Mustafa Mukadam, Jessica Hodgins

International Conference on Robotics and Automation (ICRA), 2021

arxiv | video | webpage

2020

Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, Deepak Pathak

Neural Information Processing Systems (NeurIPS), 2020

Spotlight, 3% Acceptance Rate

pdf | arxiv | video | code

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

arxiv

Giovanni Sutanto, Austin Wang, Yixin Lin, Mustafa Mukadam, Gaurav Sukhatme, Akshara Rai, Franziska Meier

Learning for Dynamics and Control (L4DC), 2020

pdf | arxiv

Mohak Bhardwaj, Byron Boots, Mustafa Mukadam

International Conference on Robotics and Automation (ICRA), 2020

arxiv | talk | code

2019

Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan Ratliff

Conference on Robot Learning (CoRL), 2019

pdf | arxiv | video | talk

Asif Rana*, Anqi Li*, Harish Ravichandar, Mustafa Mukadam, Sonia Chernova, Dieter Fox, Byron Boots, Nathan Ratliff

Conference on Robot Learning (CoRL), 2019

pdf | video

Anqi Li, Mustafa Mukadam, Magnus Egerstedt, Byron Boots

International Symposium on Robotics Research (ISRR), 2019

arxiv | video

Mustafa Mukadam

Ph.D. Dissertation, Georgia Institute of Technology, 2019

pdf

Keshav Kolur*, Sahit Chintalapudi*, Byron Boots, Mustafa Mukadam

International Conference on Intelligent Robots and Systems (IROS), 2019

arxiv | video

Alexander Lambert, Mustafa Mukadam, Balakumar Sundaralingam, Nathan Ratliff, Byron Boots, Dieter Fox.

International Conference on Robotics and Automation (ICRA), 2019

arxiv | video

2018

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

arxiv | video

Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, Byron Boots

International Conference on Intelligent Robots and Systems (IROS), 2018

arxiv | video

Mustafa Mukadam*, Jing Dong*, Frank Dellaert, Byron Boots

Autonomous Robots (AuRo), 2018

Invited Paper

pdf | arxiv

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

pdf | arxiv

Jing Dong, Mustafa Mukadam, Byron Boots, Frank Dellaert

International Conference on Robotics and Automation (ICRA), 2018

pdf

2017

Asif Rana, Mustafa Mukadam, Reza Ahmadzadeh, Sonia Chernova, Byron Boots

Conference on Robot Learning (CoRL), 2017

Long Talk, 8% Acceptance Rate

pdf | video | talk | code

Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots

Robotics: Science and Systems (RSS), 2017

pdf | code | video | slides

Mustafa Mukadam, Ching-An Cheng, Xinyan Yan, Byron Boots

International Conference on Robotics and Automation (ICRA), 2017

arxiv | video

Eric Huang, Mustafa Mukadam, Zhen Liu, Byron Boots

International Conference on Robotics and Automation (ICRA), 2017

pdf | video

2016

Jing Dong, Mustafa Mukadam, Frank Dellaert, Byron Boots

Robotics: Science and Systems (RSS), 2016

pdf | code | video | talk

Mustafa Mukadam, Xinyan Yan, Byron Boots

International Conference on Robotics and Automation (ICRA), 2016

pdf | video

2014

Mustafa Mukadam, Andy Borum, Timothy Bretl

International Conference on Intelligent Robots and Systems (IROS), 2014

pdf | video

Patent

Mustafa Mukadam, Akansel Cosgun, Alireza Nakhaei, Kikuo Fujimura

US Patent 10,739,776 B2, 2020

pdf

Refereed Workshop

Shray Bansal, Mustafa Mukadam, Charles Isbell

ICRA Workshop on Human Movement Science for Physical Human-Robot Collaboration, 2019

pdf

Mustafa Mukadam, Akansel Cosgun, Alireza Nakhaei, Kikuo Fujimura

NIPS Workshop on Machine Learning for Intelligent Transportation Systems, 2017

pdf

Workshops

Organizers: Rogerio Bonatti (Microsoft), Sai Vemprala (Scaled Foundations), Mustafa Mukadam (FAIR), Luis Figueredo (TU Munich), Antonio Loquercio (Berkeley), Xingyu Liu (CMU), Valts Blukis (NVIDIA), Huang (Raven) Huang (Berkeley)

Organizers: Mustafa Mukadam (FAIR), Nima Fazeli (University of Michigan), Niko Sünderhauf (Queensland University of Technology)

Organizers: Arunkumar Byravan (DeepMind), Markus Wulfmeier (DeepMind), Franziska Meier (FAIR), Mustafa Mukadam (FAIR), Nicolas Heess (DeepMind), Angela Schoellig (UToronto), Dieter Fox (UW / NVIDIA)

Organizers: Mustafa Mukadam (Georgia Tech), Sanjiban Choudhury (University of Washington), Siddhartha Srinivasa (University of Washington)

Organizers: Mustafa Mukadam (Georgia Tech), Arunkumar Byravan (University of Washington), Byron Boots (Georgia Tech)