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Bio:

Mrinal Kalakrishnan graduated with a B.E. in Telecommunication from PESIT, Bangalore in 2004, and an M.S. in Computer Science from the University of Southern California in 2008. He is currently pursuing his doctoral degree at USC, advised by Prof. Stefan Schaal. His research focuses on the development of machine learning techniques to improve the performance of motion planners for autonomous robots in challenging domains such as rough terrain locomotion and autonomous grasping and manipulation. He is also interested in designing and learning controllers that use sensory and visual feedback loops to achieve compliant yet robust behavior.

Research Interests:

Machine Learning, Legged Locomotion, Motion Planning, Reinforcement Learning, Inverse Reinforcement Learning, Grasping and Manipulation, Force and Compliance Control


Videos:

LittleDog, Phase III: Learning Force Control Policies for Compliant Manipulation:
Autonomous Robotic Manipulation (ARM) project, Phase II: Autonomous Robotic Manipulation (ARM) project, Phase I:
Willow Garage Internship, 2010: Willow Garage Internship, 2009:

Journal Publications

Herzog, A.; Pastor, P.; Kalakrishnan, M.; Righetti, L.; Bohg, J.; Asfour, T.; Schaal, S. (2014). Learning of Grasp Selection based on Shape-Templates, Autonomous Robots, Springer US
[Keywords: Model-free Grasping; Grasp Synthesis; Template Learning]
  Details  PDF  BibTeX

Righetti, L. and Kalakrishnan, M. and Pastor, P. and Binney, J. and Kelly, J. and Voorhies, R. and Sukhatme, G. and Schaal, S. (2013). An autonomous manipulation system based on force control and optimization, in: Springer (eds.), Autonomous Robots
[Keywords: manipulation; grasping; force control; optimization]
  Details  BibTeX

Righetti, L. and Buchli, J. and Mistry, M. and Kalakrishnan, M. and Schaal, S. (2013). Optimal distribution of contact forces with inverse dynamics control, International Journal of Robotics Research, 32, 3, pp.280-298
[Keywords: inverse dynamics; floating base; nonlinear control; legged robot]
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Pastor, P.;Kalakrishnan, M.;Meier, F.;Stulp, F.;Buchli, J.;Theodorou, E.;Schaal, S. (2012). From Dynamic Movement Primitives to Associative Skill Memories, Robotics and Autonomous Systems
[Keywords: associative memoryreinforcement learningmovement primitives]
  Details  BibTeX

Kalakrishnan, M.;Buchli, J.;Pastor, P.;Mistry, M.;Schaal, S. (2010). Learning, planning, and control for quadruped locomotion over challenging terrain, International Journal of Robotics Research, 30, 2, pp.236-258
[Keywords: Quadruped locomotion, locomotion planning and control, template learning, ZMP optimization, floating base inverse dynamics]
  Details  PDF  BibTeX

Conference Publications

Kalakrishnan, M.; Pastor, P.; Righetti, L.; Schaal, S. (2013). Learning Objective Functions for Manipulation, IEEE International Conference on Robotics and Automation
[Keywords: learning, inverse reinforcement learning, manipulation, grasping, inverse kinematics, motion planning, trajectory optimization]
  Details  PDF  BibTeX

Pastor, P., Kalakrishnan, M., Binney, J., Kelly, J., Righetti, L., Sukhatme, G., Schaal, S. (2013). Learning Task Error Models for Manipulation, IEEE International Conference on Robotics and Automation
[Keywords: calibration, Gaussian Processes, model-based control]
  Details  PDF  BibTeX

Righetti, L.; Buchli, J., Mistry, M.; Kalakrishnan, M.; Schaal, S. (2013). Using Torque Redundancy to Optimize Contact Forces in Legged Robots, Redundancy in Robot Manipulators and Multi-Robot Systems
[Keywords: force control, redundancy resolution, locomotion]
  Details  PDF  BibTeX

W├╝thrich, M. , Pastor, P., Kalakrishnan, M., Bohg, J., Schaal, S. (2013). Probabilistic Object Tracking Using a Range Camera, IEEE/RSJ International Conference on Intelligent Robots and Systems
[Keywords: object tracking, 3D perception, pose estimation]
  Details  BibTeX

Herzog, A.;Pastor, P.;Kalakrishnan, M.;Righetti, L.;Asfour, T.;Schaal, S. (2012). Template-based learning of grasp selection, Robotics and Automation (ICRA), 2012 IEEE International Conference on, pp.2379-2384
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Kalakrishnan, M.; Righetti, L.; Pastor, P.; Schaal, S. (2012). Learning Force Control Policies for Compliant Robotic Manipulation, International Conference on Machine Learning (ICML)
[Keywords: movement primitives, reinforcement learning, pi2, skill learning, force control]
  Details  PDF  BibTeX

Pastor, P., Kalakrishnan, M., Righetti, L., Schaal, S. (2012). Towards Associative Skill Memories, IEEE-RAS International Conference on Humanoid Robots
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Pastor, P.;Kalakrishnan, M.;Chitta, S.;Theodorou, E.;Schaal, S. (2011). Skill learning and task outcome prediction for manipulation, Robotics and Automation (ICRA), 2011 IEEE International Conference on
[Keywords: movement primitives, reinforcement learning, sensory data mining, motor skills]
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Kalakrishnan, M.;Chitta, S.;Theodorou, E.;Pastor, P.;Schaal, S. (2011). STOMP: Stochastic trajectory optimization for motion planning, Robotics and Automation (ICRA), 2011 IEEE International Conference on
[Keywords: reinforcement learning, optimization, optimal motion planning]
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Kalakrishnan, M.;Righetti, L.;Pastor, P.;Schaal, S. (2011). Learning force control policies for compliant manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
[Keywords: movement primitives, reinforcement learning, PI2, skill learning, force control]
  Details  PDF  BibTeX

Pastor, P.;Righetti, L.;Kalakrishnan, M.;Schaal, S. (2011). Online movement adaptation based on previous sensor experiences, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
[Keywords: BEST OVERALL PAPER AWARD, movement primitives, force control, associative memeory, perception-action coupling]
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Stulp, F.;Theodorou, E.;Kalakrishnan, M.;Pastor, P.;Righetti, L.;Schaal, S. (2011). Learning motion primitive goals for robust manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2011)
[Keywords: movement primitives, reinforcement learning, PI2, skill learning]
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Sucan, I.; Kalakrishnan, M.; Chitta, S. (2010). Combining Planning Techniques for Manipulation Using Realtime Perception, IEEE International Conference on Robotics and Automation
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Kalakrishnan, M.;Buchli, J.;Pastor, P.;Mistry, M.;Schaal, S. (2010). Fast, robust quadruped locomotion over challenging terrain, Robotics and Automation (ICRA), 2010 IEEE International Conference on, pp.2665-2670
[Keywords: Best Paper Finalist, force control learning systems legged locomotion optimisation path planning stability criteria body trajectory optimizer challenging terrain control architecture control strategy fast robust quadruped locomotion floating-ba]
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Kalakrishnan, M.;Buchli, J.;Pastor, P.;Schaal, S. (2009). Learning locomotion over rough terrain using terrain templates, Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pp.167-172
[Keywords: legged locomotion path planning LittleDog quadruped robot foot hand-hold selection foothold ranking function human rock-climbing robotic legged locomotion rough terrain terrain templates]
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Buchli, J.;Kalakrishnan, M.;Mistry, M.;Pastor, P.;Schaal, S. (2009). Compliant quadruped locomotion over rough terrain, Intelligent Robots and Systems, 2009. IROS 2009. IEEE/RSJ International Conference on, pp.814-820
[Keywords: force control gain control humanoid robots legged locomotion position control predictive control robot dynamics stability active balance control climbing rocks compliant quadruped locomotion floating-base inverse dynamics control littledog]
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Google Scholar

Pre-CLMC Publications

Mehan, M.R.; Nunez-Iglesias, J.; Kalakrishnan, M.; Waterman, M.S.; Zhou, X.J (2008). An Integrative Network Approach to Map the Transcriptome to the Phenome, Research in Computational Molecular Biology
  Details  BibTeX

Liu, C.; Hu, J.; Kalakrishnan, M.; Huang, H.; Zhou, X.J. (2009). Integrative Disease Classification Based on Cross-platform Microarray Data, BMC Bioinformatics (APBC 2009)
  Details  BibTeX

Email:

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Address:

Ronald Tutor Hall, RTH-417
3710 S. Mc.Clintock Ave
Los Angeles, CA 90089

Phone:

(213) 821 6370

Fax:

(213) 740 1510

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Page last modified on December 15, 2013, at 09:30 PM