Mukadam, Mustafa

23 publications

ICML 2025 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

CoRL 2025 Self-Supervised Perception for Tactile Skin Covered Dexterous Hands Akash Sharma, Carolina Higuera, Chaithanya Krishna Bodduluri, Zixi Liu, Taosha Fan, Tess Hellebrekers, Mike Lambeta, Byron Boots, Michael Kaess, Tingfan Wu, Francois Robert Hogan, Mustafa Mukadam

CoRL 2025 Tactile Beyond Pixels: Multisensory Touch Representations for Robot Manipulation Carolina Higuera, Akash Sharma, Taosha Fan, Chaithanya Krishna Bodduluri, Byron Boots, Michael Kaess, Mike Lambeta, Tingfan Wu, Zixi Liu, Francois Robert Hogan, Mustafa Mukadam

ICML 2024 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

NeurIPSW 2024 Aligning Touch, Vision, and Language for Multimodal Perception Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg

CoRL 2024 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

NeurIPS 2023 TaskMet: Task-Driven Metric Learning for Model Learning Dishank Bansal, Ricky T. Q. Chen, Mustafa Mukadam, Brandon Amos

ICMLW 2023 TaskMet: Task-Driven Metric Learning for Model Learning Dishank Bansal, Ricky T. Q. Chen, Mustafa Mukadam, Brandon Amos

CoRL 2022 In-Hand Gravitational Pivoting Using Tactile Sensing Jason Toskov, Rhys Newbury, Mustafa Mukadam, Dana Kulic, Akansel Cosgun

CoRL 2022 MidasTouch: Monte-Carlo Inference over Distributions Across Sliding Touch Sudharshan Suresh, Zilin Si, Stuart Anderson, Michael Kaess, Mustafa Mukadam

NeurIPS 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

CoRL 2021 A Differentiable Recipe for Learning Visual Non-Prehensile Planar Manipulation Bernardo Aceituno, Alberto Rodriguez, Shubham Tulsiani, Abhinav Gupta, Mustafa Mukadam

NeurIPS 2021 Habitat 2.0: Training Home Assistants to Rearrange Their Habitat Andrew Szot, Alexander Clegg, Eric Undersander, Erik Wijmans, Yili Zhao, John Turner, Noah Maestre, Mustafa Mukadam, Devendra Singh Chaplot, Oleksandr Maksymets, Aaron Gokaslan, Vladimír Vondruš, Sameer Dharur, Franziska Meier, Wojciech Galuba, Angel Chang, Zsolt Kira, Vladlen Koltun, Jitendra Malik, Manolis Savva, Dhruv Batra

CoRL 2021 LEO: Learning Energy-Based Models in Factor Graph Optimization Paloma Sodhi, Eric Dexheimer, Mustafa Mukadam, Stuart Anderson, Michael Kaess

NeurIPS 2021 No RL, No Simulation: Learning to Navigate Without Navigating Meera Hahn, Devendra Singh Chaplot, Shubham Tulsiani, Mustafa Mukadam, James M. Rehg, Abhinav Gupta

ICCV 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

CoRL 2021 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

ICCV 2021 Where2Act: From Pixels to Actions for Articulated 3D Objects Kaichun Mo, Leonidas J. Guibas, Mustafa Mukadam, Abhinav Gupta, Shubham Tulsiani

L4DC 2020 Encoding Physical Constraints in Differentiable Newton-Euler Algorithm Giovanni Sutanto, Austin Wang, Yixin Lin, Mustafa Mukadam, Gaurav Sukhatme, Akshara Rai, Franziska Meier

NeurIPS 2020 Neural Dynamic Policies for End-to-End Sensorimotor Learning Shikhar Bahl, Mustafa Mukadam, Abhinav Gupta, Deepak Pathak

CoRL 2019 Learning Reactive Motion Policies in Multiple Task Spaces from Human Demonstrations M. Asif Rana, Anqi Li, Harish Ravichandar, Mustafa Mukadam, Sonia Chernova, Dieter Fox, Byron Boots, Nathan Ratliff

CoRL 2019 Riemannian Motion Policy Fusion Through Learnable Lyapunov Function Reshaping Mustafa Mukadam, Ching-An Cheng, Dieter Fox, Byron Boots, Nathan Ratliff

CoRL 2017 Towards Robust Skill Generalization: Unifying Learning from Demonstration and Motion Planning Muhammad Asif Rana, Mustafa Mukadam, Seyed Reza Ahmadzadeh, Sonia Chernova, Byron Boots