Adithya Murali

Hi! I am a Research Scientist at the NVIDIA Seattle Robotics Lab.

I received my PhD at The Robotics Institute, Carnegie Mellon University advised by Abhinav Gupta. I was supported by the Uber Presidential Fellowship. During grad school, I also worked with Dieter Fox, Arsalan Mousavian and Clemens Eppner at NVIDIA. Before CMU, 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 generally interested in robotic manipulation, perception and learning. I'm also super passionate about building robot systems - checkout PyRobot which I developed when interning at Facebook AI Research. During my PhD I also spent a lot of time building low-cost robots (like LoCoBot), which I feel are crucial to democraticizing the field, improving hands-on robotics education and benchmarking research. Previously, I have worked on machine learning for autonomous medical robots. Feel free to reach out if you are interested in my projects or want to chat more!

Google Scholar / Twitter / GitHub / LinkedIn / CV / PhD Thesis

Press Coverage

Projects

	Same Object, Different Grasps: Data and Semantic Knowledge for Task-Oriented Grasping Adithya Murali, Weiyu Liu, Kenneth Marino, Sonia Chernova, Abhinav Gupta Conference on Robot Learning (CoRL), 2020 arXiv / video / talk / code & data / project page
	6-DOF Grasping for Target-driven Object Manipulation in Clutter Adithya Murali, Arsalan Mousavian, Clemens Eppner, Chris Paxton, Dieter Fox International Conference on Robotics and Automation (ICRA), 2020 Best Robot Manipulation Paper Finalist Best Student Paper Finalist arXiv / video / talk / NVIDIA Blog
	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 GitHub Star / 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 / data / code / 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 / code
	Learning to Grasp Without Seeing Adithya Murali, Yin Li, Dhiraj Gandhi, Abhinav Gupta. International Symposium on Experimental Robotics (ISER), 2018 arXiv / data / 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 Best Conference 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