Adithya Murali

Hi! I'm a PhD student at the Robotics Institute, Carnegie Mellon University advised by Abhinav Gupta. I was supported by the Uber Presidential Fellowship.

I have also worked with Dieter Fox, Arsalan Mousavian and Clemens Eppner at NVIDIA Robotics Lab. I did my undergrad at UC Berkeley EECS, where I worked with Ken Goldberg and Pieter Abbeel at BAIR/AUTOLab. I have also spent time at Facebook, Amazon, LBL and NTU.

I'm currently working on open-world robotic grasping, but I'm generally interested in robotic manipulation, perception and learning. I'm also super passionate about low-cost robots, which are crucial to democraticizing the field, improving hands-on robotics education and benchmarking research. Checkout PyRobot and LoCoBot, which I developed when interning at Facebook AI Research. Previously, I have worked on learning from demonstrations for autonomous medical robots. Some of my projects are listed below.

Google Scholar / Email / CV / GitHub / LinkedIn

Press Coverage

Projects

	PyRobot: An Open-source Robotics Framework for Research and Benchmarking Adithya Murali, Tao Chen, Kalyan Vasudev Alwala, Dhiraj Gandhi, Lerrel Pinto, Saurabh Gupta, Abhinav Gupta arXiv / pyrobot.org / code / FAIR Blog / WIRED / VentureBeat
	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
	Learning to Grasp Without Seeing Adithya Murali, Yin Li, Dhiraj Gandhi, Abhinav Gupta. International Symposium on Experimental Robotics (ISER), 2018 arXiv / project page / video
	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