Balakumar Sundaralingam ![](/sites/default/files/person/bala_pp%20%282%29.jpg) ### Publications ### 2025 [VT-Refine: Learning Bimanual Assembly with Visuo-Tactile Feedback via Simulation Fine-Tuning](/index.php/publication/2025-09_vt-refine-learning-bimanual-assembly-visuo-tactile-feedback-simulation-fine) Binghao Huang, [Jie Xu](/index.php/person/jie-xu), [Iretiayo Akinola](/index.php/person/iretiayo-akinola), [Wei Yang](/index.php/person/wei-yang), [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), [Rowland O'Flaherty](/index.php/person/rowland-oflaherty), Dieter Fox, Xiaolong Wang, Arsalan Mousavian, [Yu-Wei Chao](/index.php/person/yu-wei-chao), Yunzhu Li [Conference on Robot Learning (CoRL) 2025](https://www.corl.org) [Inference-Time Policy Steering through Human Interactions](/publication/2025-05_inference-time-policy-steering-through-human-interactions) Yanwei Wang, Lirui Wang, Yilun Du, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Xuning Yang](/person/xuning-yang), [Yu-Wei Chao](/person/yu-wei-chao), [Claudia D’Arpino ](/person/cdarpino), Dieter Fox, Julie Shah [IEEE ICRA 2025](https://arxiv.org/pdf/2411.16627) ### 2023 [VaPr: Variable-Precision Tensors to Accelerate Robot Motion Planning](/index.php/publication/2023-10_vapr-variable-precision-tensors-accelerate-robot-motion-planning) Yu-Shun Hsiao, [Siva Hari](/index.php/person/siva-hari), [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), Jason Yik, Thierry Tambe, [Charbel Sakr](/index.php/person/charbel-sakr), [Steve Keckler](/index.php/person/stephen-keckler), Vijay Janapa Reddi [IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2023)](https://ieee-iros.org/) [Meta-Policy Learning over Plan Ensembles for Robust Articulated Object Manipulation](/publication/2023-07_meta-policy-learning-over-plan-ensembles-robust-articulated-object-manipulation) Constantinos Chamzas, [Caelan Garrett](/person/caelan-garrett), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Lydia Kavraki, Dieter Fox [RSS 2023 Workshop on Learning for Task and Motion Planning](https://openreview.net/forum?id=68N8Dj6KVv) [DeXtreme: Transfer of Agile In-Hand Manipulation from Simulation to Reality](/index.php/publication/2023-06_dextreme-transfer-agile-hand-manipulation-simulation-reality) Ankur Handa, Arthur Allshire, Viktor Makoviychuk, Aleksei Petrenko, Ritvik Singh, Jingzhou Liu, Denys Makoviichuk, Karl Van Wyk, Alexander Zhurkevich, [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), [Yashraj Narang](/index.php/person/yashraj-narang), Jean-Francois Lafleche, Dieter Fox, Gavriel State [CuRobo: Parallelized Collision-Free Robot Motion Generation](/publication/2023-05_curobo-parallelized-collision-free-robot-motion-generation) [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Siva Hari](/person/siva-hari), Adam Fishman, [Caelan Garrett](/person/caelan-garrett), Karl Van Wyk, [Valts Blukis](/person/valts-blukis), Alexander Millane, Helen Oleynikova, Ankur Handa, [Fabio Ramos](/person/fabio-ramos), Nathan Ratliff, Dieter Fox [IEEE International Conference on Robotics and Automation (ICRA)](https://www.icra2023.org/) [RGB-Only Reconstruction of Tabletop Scenes for Collision-Free Manipulator Control ](/index.php/publication/2023-05_rgb-only-reconstruction-tabletop-scenes-collision-free-manipulator-control) Zhenggang Tang, [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), [Jonathan Tremblay](/index.php/person/jonathan-tremblay), [Bowen Wen](/index.php/person/bowen-wen), [Ye Yuan](/index.php/person/ye-yuan), [Stephen Tyree](/index.php/person/stephen-tyree), [Charles Loop](/index.php/person/charles-loop), Alexander Schwing, [Stan Birchfield](/index.php/person/stan-birchfield) [ICRA 2023](https://www.icra2023.org/) ### 2022 [Learning Perceptual Concepts by Bootstrapping from Human Queries](/index.php/publication/2022-10_learning-perceptual-concepts-bootstrapping-human-queries) Andreea Bobu, Chris Paxton, [Wei Yang](/index.php/person/wei-yang), [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), [Yu-Wei Chao](/index.php/person/yu-wei-chao), Maya Cakmak, Dieter Fox [RA-L / IROS 2022](https://iros2022.org/) [Correcting Robot Plans with Natural Language Feedback](/publication/2022-06_correcting-robot-plans-natural-language-feedback) Pratyusha Sharma, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Valts Blukis](/person/valts-blukis), Chris Paxton, [Tucker Hermans](/person/tucker-hermans), Antonio Torralba, Jacob Andreas, Dieter Fox [Robotics Science and Systems (RSS) 2022](http://www.roboticsproceedings.org/rss18/index.html) [HandoverSim: A Simulation Framework and Benchmark for Human-to-Robot Object Handovers](/publication/2022-05_handoversim-simulation-framework-and-benchmark-human-robot-object-handovers) [Yu-Wei Chao](/person/yu-wei-chao), Chris Paxton, Yu Xiang, [Wei Yang](/person/wei-yang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Tao Chen, [Adithya Murali](/person/adithya-murali), Maya Cakmak, Dieter Fox [IEEE International Conference on Robotics and Automation (ICRA) 2022](https://www.icra2022.org) [Model Predictive Control for Fluid Human-to-Robot Handovers](/index.php/publication/2022-04_model-predictive-control-fluid-human-robot-handovers) [Wei Yang](/index.php/person/wei-yang), [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), Chris Paxton, [Iretiayo Akinola](/index.php/person/iretiayo-akinola), [Yu-Wei Chao](/index.php/person/yu-wei-chao), Maya Cakmak, Dieter Fox [IEEE International Conference on Robotics and Automation (ICRA) 2022](https://www.icra2022.org/) [DefGraspSim: Physics-Based Simulation of Grasp Outcomes on 3D Deformable Objects](/index.php/publication/2022-03_defgraspsim-physics-based-simulation-grasp-outcomes-3d-deformable-objects) Isabella Huang, [Yashraj Narang](/index.php/person/yashraj-narang), Clemens Eppner, [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), Miles Macklin, Ruzena Bajcsy, [Tucker Hermans](/index.php/person/tucker-hermans), Dieter Fox [IEEE Robotics and Automation Letters](https://ieeexplore.ieee.org/document/9735347) ### 2021 [Interpreting and predicting tactile signals for the SynTouch BioTac](/index.php/publication/2021-12_interpreting-and-predicting-tactile-signals-syntouch-biotac) [Yashraj Narang](/index.php/person/yashraj-narang), [Balakumar Sundaralingam](/index.php/person/balakumar-sundaralingam), Karl Van Wyk, Arsalan Mousavian, Dieter Fox [International Journal of Robotics Research (IJRR) 2021](https://journals.sagepub.com/doi/abs/10.1177/02783649211047634?journalCode=ijra) [STORM: An Integrated Framework for Fast Joint-Space Model-Predictive Control for Reactive Manipulation](/publication/2021-11_storm-integrated-framework-fast-joint-space-model-predictive-control-reactive) Mohak Bhardwaj, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Arsalan Mousavian, Nathan Ratliff, Dieter Fox, [Fabio Ramos](/person/fabio-ramos), Byron Boots [Conference on Robot Learning (CoRL) 2021](https://sites.google.com/robot-learning.org/corl2021) Selected for Oral Presentation [Joint Space Control via Deep Reinforcement Learning](/publication/2021-09_joint-space-control-deep-reinforcement-learning) Visak Kumar, David Hoeller, [Balakumar Sundaralingam](/person/balakumar-sundaralingam), [Jonathan Tremblay](/person/jonathan-tremblay), [Stan Birchfield](/person/stan-birchfield) [IROS 2021](https://www.iros2021.org/) [Sim-to-Real for Robotic Tactile Sensing via Physics-Based Simulation and Learned Latent Projections](/publication/2021-06_sim-real-robotic-tactile-sensing-physics-based-simulation-and-learned-latent) [Yashraj Narang](/person/yashraj-narang), [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Miles Macklin, Arsalan Mousavian, Dieter Fox [International Conference on Robotics and Automation (ICRA) 2021](https://www.ieee-ras.org/conferences-workshops/fully-sponsored/icra) ### 2019 [Robust Learning of Tactile Force Estimation through Robot Interaction](/publication/2019-05_robust-learning-tactile-force-estimation-through-robot-interaction) [Balakumar Sundaralingam](/person/balakumar-sundaralingam), Alexander Lambert, Ankur Handa, Byron Boots, [Tucker Hermans](/person/tucker-hermans), [Stan Birchfield](/person/stan-birchfield), Nathan Ratliff, Dieter Fox ICRA 2019