Adithya Murali

Hi there! I'm a PhD student at the Robotics Institute, Carnegie Mellon University advised by Abhinav Gupta. I am supported by the Uber Presidential Fellowship. I'm interested in robot learning, lifelong learning, tactile perception and medical robotics.

Before grad school, I did my undergrad at Berkeley EECS. I've spent time at BAIR (advised by Ken Goldberg and Pieter Abbeel), Amazon AWS Rekognition, Lawrence Berkeley National Lab, A*STAR and NTU.

Google Scholar  /  Email  /  CV  /  GitHub  /  LinkedIn

Press Coverage

Research Projects
GIF


Robot Learning in Homes: Improving Generalization and Reducing Dataset Bias


Abhinav Gupta*, Adithya Murali*, Dhiraj Gandhi*, Lerrel Pinto*. [Equal Contribution]
Neural Information Processing Systems (NeurIPS), 2018
arXiv / WIRED article


Hardware Conditioned Policies for Multi-Robot Transfer Learning


Tao Chen, Adithya Murali, Abhinav Gupta
Neural Information Processing Systems (NeurIPS), 2018
arXiv / project page / video

GIF


Learning to Grasp Without Seeing


Adithya Murali, Yin Li, Dhiraj Gandhi, Abhinav Gupta.
International Symposium on Experimental Robotics (ISER), 2018
arXiv / project page / video

GIF


CASSL: Curriculum Accelerated Self-Supervised Learning


Adithya Murali, Lerrel Pinto, Dhiraj Gandhi, Abhinav Gupta.
International Conference on Robotics and Automation (ICRA), 2018
arXiv / pdf / video

TSC-DL: Unsupervised Trajectory Segmentation of Multi-Modal Surgical Demonstrations with Deep Learning

Adithya Murali*, Animesh Garg*, Sanjay Krishnan*, Florian T. Pokorny, Pieter Abbeel, Trevor Darrell, Ken Goldberg.
International Conference on Robotics and Automation (ICRA), 2016
project page / video / IEEE Spectrum

Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms

Adithya Murali*, Siddarth Sen*, Ben Kehoe, Animesh Garg, Seth McFarland , Sachin Patil, W. Douglas Boyd , Susan Lim, Pieter Abbeel, Ken Goldberg.
International Conference on Robotics and Automation (ICRA), 2015
Best Medical Robotics Paper Finalist
video / New York Times / CBS News


A Single-Use Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery


Stephen McKinley, Animesh Garg, Siddarth Sen, Rishi Kapadia, Adithya Murali, Kirk Nichols, Susan Lim, Sachin Patil, Pieter Abbeel, Allison Okamura, Ken Goldberg.
Conference on Automation Science and Engineering (CASE), 2015
Best Paper, ICRA Medical Robotics Workshop 2015

A Paced Shared-Control Teleoperated Architecture for Supervised Automation of Multilateral Surgical Tasks

Kamran Shamaei, Yuhang Che, Adithya Murali, Siddharth Sen, Sachin Patil, Ken Goldberg, Allison Okamura.
Conference on Intelligent Robots and Systems (IROS), 2015



Models of Human-Centered Automation in a Debridement Task

Kirk Nichols , Adithya Murali, Siddarth Sen, Ken Goldberg, Allison Okamura.
Conference on Intelligent Robots and Systems (IROS), 2015

Learning Accurate Kinematic Control of Cable-Driven Surgical Robots Using Data Cleaning and Gaussian Process Regression

Jeffrey Mahler, Sanjay Krishnan, Michael Laskey, Siddarth Sen, Adithya Murali, Ben Kehoe, Sachin Patil, Jiannan Wang, Mike Franklin, Pieter Abbeel, Ken Goldberg.
Conference on Automation Science and Engineering (CASE), 2014


A Morphological Study on Direct Polymer Cast Micro-textured Hydrophobic Surfaces


Adithya Murali, Sathyan Subbiah.
Surface and Coatings Technology, 205(20), 2011

Secondary Ion Mass Spectrometry of Macromolecules Loading in Individual Polyelectrolyte Multilayer Microcapsules

Nikolai L. Yakovlev, Maxim V. Kiryukhin, Maria N. Antipina, Theo T. Susanto, Sethuraman Ravi, Adithya Murali, Gleb B. Sukhorukov.
Australian Journal of Chemistry, 64(9), 2011

Course Projects
prl

Berkeley CS294: Graduate Interactive Device Design (Fall 2015)
Tomas Vega, Craig Hiller, Adithya Murali, Frank Lu, Krishna Parashar
Advisors: Björn Hartmann, Paul K. Wright

Enabling independence for the visually impaired: An augmented white-cane that provides both obstacle-avoidance and navigation assistance.

hackster.io / project page / video / poster

Jon Barron has an awesome website =)