Selected Publications

Preprint, 2020.

RA-L, 2020.

ICRA, 2019.

Publications [BibTex]

Authors Article Title Year Venue
B. Sundaralingam, T. Hermans In-Hand Object-Dynamics Inference using Tactile Fingertips
PDF arXiv
2020 Preprint
S. Cruciani*, B. Sundaralingam*, K. Hang, V. Kumar, T. Hermans, D. Kragic Benchmarking In-Hand Manipulation
PDF Website arXiv
2020 IEEE Robotics and Automation Letters (Special Issue: Benchmarking Protocols for Robotic Manipulation)
M. Van der Merwe, Q. Lu, B. Sundaralingam, M. Matak, T. Hermans Learning Continuous 3D Reconstructions for Geometrically Aware Grasping
PDF Website arXiv
2020 IEEE International Conference on Robotics and Automation (ICRA)
Q. Lu, M. Van der Merwe, B. Sundaralingam, T. Hermans Multi-Fingered Grasp Planning via Inference in Deep Neural Networks
PDF arXiv
2020 IEEE Robotics & Automation Magazine (Special Issue on Deep Learning and Machine Learning in Robotics)
A. Lambert, M. Mukadam, B. Sundaralingam, N. Ratliff, B. Boots, D. Fox. Joint Inference of Kinematic and Force Trajectories with Visuo-Tactile Sensing
PDF Video arXiv
2019 IEEE International Conference on Robotics and Automation (ICRA)
G. Sutanto, N. Ratliff, B. Sundaralingam, Y. Chebotar, Z. Su, A. Handa, D. Fox Learning Latent Space Dynamics for Tactile Servoing
PDF Video arXiv
2019 IEEE International Conference on Robotics and Automation (ICRA)
B. Sundaralingam, A. Lambert, A. Handa, B. Boots, T. Hermans, S. Birchfield, N. Ratliff, D. Fox Robust Learning of Tactile Force Estimation through Robot Interaction (Best Manipulation Paper Award Finalist)
PDF Video Website arXiv
2019 IEEE International Conference on Robotics and Automation (ICRA)
J. Tremblay, T. To, B. Sundaralingam, Y. Xiang, D. Fox, S. Birchfield Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects
PDF Website arXiv
2018 Conference on Robot Learning (CoRL)
B. Sundaralingam, T. Hermans Geometric In-Hand Regrasp Planning: Alternating Optimization of Finger Gaits and In-Grasp Manipulation
PDF Video
2018 IEEE International Conference on Robotics and Automation (ICRA)
Q. Lu, K. Chenna, B. Sundaralingam, T. Hermans Planning Multi-Fingered Grasps as Probabilistic Inference in a Learned Deep Network
PDF Website
2017 International Symposium on Robotics Research (ISRR)
B. Sundaralingam, T. Hermans Relaxed-Rigidity Constraints: In-Grasp Manipulation using Purely Kinematic Trajectory Optimization
PDF Video Website
2017 Proceedings of Robotics: Science and Systems

Research Code & Datasets

Some of my research involves robots interacting with objects in the real world. I have collected RGB-D, robot state and other sensing available during robot execution for future use. I have made these datasets available along with quick implementations(mostly python) of the main contributions of associated research article. Reach out to me if you are looking for something specific from my research that’s not available here and I will share them with you.

Benchmarking In-Hand Manipulation Code Dataset Article
Force Estimation for BioTac Code Dataset Article
In-Grasp Manipulation with Relaxed-Rigidity Code Dataset Article

Robot System Code

I am actively involved in developing system level code(mostly C++) for robots ranging from low-level controllers to setting up finite state machines, primarily in ROS. Some of my primary contributions have been in the below packages,

Description Package URL
Allegro Hand Driver + Inv. Dynamics controllers allegro_driver
KUKA LBR4 OROCOS Real-time controllers lwr_hardware
Robot Kinematics + Dynamics Wrapper ll4ma_kdl
Robot Motion Optimization Tools ll4ma_opt_utils
Polygon Mesh Collision+SDF Wrapper ll4ma_collision_wrapper
Arm motion planning via trajectory optimization ll4ma_planner