2025

• DexterityGen: Foundation Controller for Unprecedented Dexterity

Zhao-Heng Yin, Changhao Wang, Luis Pineda, Francois Hogan, Krishna Bodduluri, Akash Sharma, Patrick Lancaster, Ishita Prasad, Mrinal Kalakrishnan, Jitendra Malik, Mike Lambeta, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam

Robotics: Science and Systems (RSS), 2025

arxiv | webpage | twitter

• Geometric Retargeting: A Principled, Ultrafast Neural Hand Retargeting Algorithm

Zhao-Heng Yin, Changhao Wang, Luis Pineda, Krishna Bodduluri, Tingfan Wu, Pieter Abbeel, Mustafa Mukadam

arXiv:2503.07541, 2025

arxiv | webpage

• OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction

Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel

International Conference on Machine Learning (ICML), 2025

arxiv | webpage | twitter

• DABA: Decentralized and accelerated large-scale bundle adjustment

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

International Journal of Robotics Research (IJRR), 2025

pdf

2024

• Neural feels with neural fields: Visuo-tactile perception for in-hand manipulation

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

Science Robotics, 2024

Featured as cover of November 2024 issue

pdf | webpage | code | data & model | video | twitter

• Sparsh: Self-supervised touch representations for vision-based tactile sensing

Carolina Higuera*, Akash Sharma*, Chaithanya Krishna Bodduluri, Taosha Fan, Patrick Lancaster, Mrinal Kalakrishnan, Michael Kaess, Byron Boots, Mike Lambeta, Tingfan Wu, Mustafa Mukadam

Conference on Robot Learning (CoRL), 2024

arxiv | webpage | code | data & model | video | twitter | blog

• A Touch, Vision, and Language Dataset for Multimodal Alignment

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

International Conference on Machine Learning (ICML), 2024

arxiv | webpage | code 

2023

• Perceiving Extrinsic Contacts from Touch Improves Learning Insertion Policies

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

arXiv:2309.16652, 2023

arxiv | code | video | twitter

• TaskMet: Task-Driven Metric Learning for Model Learning

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

Neural Information Processing Systems (NeurIPS), 2023

arxiv | code

• USA-Net: Unified Semantic and Affordance Representations for Robot Memory

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

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

arxiv | webpage | code

• Decentralization and Acceleration Enables Large-Scale Bundle Adjustment

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

Robotics: Science and Systems (RSS), 2023

arxiv | code

• Learning to Read Braille: Bridging the Tactile Reality Gap with Diffusion Models

Carolina Higuera, Byron Boots, Mustafa Mukadam

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

Best Paper Award, ICRA Workshop

arxiv | code | video

• Neural Contact Fields: Tracking Extrinsic Contact with Tactile Sensing

Carolina Higuera, Siyuan Dong, Byron Boots, Mustafa Mukadam

International Conference on Robotics and Automation (ICRA), 2023

arxiv | code | video

• Neural Grasp Distance Fields for Robot Manipulation

Thomas Weng, David Held, Franziska Meier, Mustafa Mukadam

International Conference on Robotics and Automation (ICRA), 2023

arxiv | webpage | code | video

2022

• Theseus: A Library for Differentiable Nonlinear Optimization

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 | blog

• MidasTouch: Monte-Carlo inference over distributions across sliding touch

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

• In-Hand Gravitational Pivoting Using Tactile Sensing

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

Conference on Robot Learning (CoRL), 2022

arxiv | webpage

• iSDF: Real-Time Neural Signed Distance Fields for Robot Perception

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

Robotics: Science and Systems (RSS), 2022

arxiv | webpage | code | video

• PatchGraph: In-hand tactile tracking with learned surface normals

Paloma Sodhi, Michael Kaess, Mustafa Mukadam, Stuart Anderson

International Conference on Robotics and Automation (ICRA), 2022

arxiv | webpage | code | video

2021

• 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

Neural Information Processing Systems (NeurIPS), 2021

Spotlight, 3% Acceptance Rate

arxiv | webpage | code

• No RL, No Simulation: Learning to Navigate without Navigating

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

Neural Information Processing Systems (NeurIPS), 2021

arxiv | webpage | code

• A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation

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

Conference on Robot Learning (CoRL), 2021

arxiv | code

• LEO: Learning Energy-based Models in Graph Optimization

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

Conference on Robot Learning (CoRL), 2021

arxiv | video | webpage | code

• Taskography: Evaluating robot task planning over large 3D scene graphs

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

• 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 | video | webpage | code

• 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 | webpage | code

• 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 | webpage | code

• 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 | code

• 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

pdf | arxiv | video | code

• 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

arxiv

• 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

pdf | arxiv

• Differentiable Gaussian Process Motion Planning

Mohak Bhardwaj, Byron Boots, Mustafa Mukadam

International Conference on Robotics and Automation (ICRA), 2020

arxiv | talk | code

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

pdf | arxiv | video | talk

• 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

pdf | video

• 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

arxiv | video

• Structured Learning and Inference for Robot Motion Generation

Mustafa Mukadam

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

pdf

• 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

• 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

arxiv | video

• 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

arxiv | video

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

arxiv | video

• 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

arxiv | video

• STEAP: Simultaneous Trajectory Estimation and Planning

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

Autonomous Robots (AuRo), 2018

Invited Paper

pdf | arxiv

• 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

pdf | arxiv

• 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

pdf | video | talk | code

• 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

• Simultaneous Trajectory Estimation and Planning via Probabilistic Inference

Mustafa Mukadam, Jing Dong, Frank Dellaert, Byron Boots

Robotics: Science and Systems (RSS), 2017

pdf | code | video | slides

• 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

arxiv | video

• 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

pdf | video

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

pdf | code | video | talk

• Gaussian Process Motion Planning

Mustafa Mukadam, Xinyan Yan, Byron Boots

International Conference on Robotics and Automation (ICRA), 2016

pdf | video

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

pdf | video