Publications

BayesContact: Uncertain Pose Estimation via Visuo-Tactile Proposals and Simulation-based Inference

Aditya Kamireddypalli, Matias Mattamala, Joao Moura, Russell Buchanan, Sethu Vijayakumar, Subramanian Ramamoorthy

Under review

TL;DR: Uses vision and contact with simulation-based Bayesian inference to resolve uncertain object pose for manipulation.

ContactKernels: Adaptive Proposals using Geometry-Conditioned Wrenches for Contact-Rich Manipulation

Aditya Kamireddypalli, Matias Mattamala, Joao Moura, Sethu Vijayakumar, Steve Tonneau, Subramanian Ramamoorthy

Under review

TL;DR: Uses sensed contact to adapt sampling-based MPC proposals, improving contact-rich insertion under uncertainty.

Amortising Trajectory Optimisation for Residual MPC via Implicit Contact Differentiation

Daniel Layeghi, Thomas Corbères, Calum Arnott, Aditya Kamireddypalli, Hashim Al-Obaidi, Steve Tonneau, Michael Mistry

Under review

TL;DR: Amortises contact-rich trajectory optimisation into a residual MPC policy using implicit contact differentiation.

ContactFusion: Stochastic Poisson Surface Maps from Visual and Contact Sensing

Aditya Kamireddypalli, Joao Moura, Russell Buchanan, Matias Mattamala, Sethu Vijayakumar, Subramanian Ramamoorthy

IEEE/RSJ IROS 2026, Pittsburgh, USA

TL;DR: Fuses visual and contact observations in a probabilistic surface map so physical interaction can refine uncertain geometry.

LiDAR Guided Small Obstacle Segmentation

Aasheesh Singh*, Aditya Kamireddypalli*, Vineet Gandhi, K. Madhava Krishna

* Equal contribution

IEEE/RSJ IROS 2020

TL;DR: Uses LiDAR guidance to improve visual segmentation of small obstacles for robot navigation.