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
GIF


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

GIF


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

GIF


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

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 / 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

GIF


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

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
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

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 =)