Arjun Lakshmipathy

PhD Student

Carnegie Mellon Univeristy

aslakshmandrew [dot] cmu [dot] edu

Thanks for stopping by! I am a Computer Science PhD student at Carnegie Mellon University, where I am extremely fortunate to be advised by Nancy Pollard. I have previously also spent time as a Visiting Researcher at Meta Fundamental AI Research (FAIR). Before moving to Pittsburgh, I spent 6 wonderful years in Los Angeles, where I received both my MS degree in Computer Science under the helpful supervision of Demetri Terzopoulos and dual BS degrees in Computer Science & Engineering + Math Economics at UCLA.

I am also a seasoned professional developer, having previously spent time as a Founding Scientist / Engineer at NeuralX Inc., a Software Engineer at Rally Health Inc., and a number of internships.

My research interests lie largely in imparting human-like capabilities to robots and virtual characters, and more broadly in robotics, visual computing, and AI. I am largely motivated by applications targeting practical real world situations, and have a particular interest in developing techniques that are compuationally and financially inexpensive, generalizable, robust, and flexible to feedback. Much of my recent work has focused on the collection, modeling, and exploitation of realistic contact areas, which I believe will play an important role in the future of dexterous manipulation, tactile sensing, hand design, and soft robotics.

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Publications

	Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations A.S. Lakshmipathy, J.K. Hodgins, N.S. Pollard Conditionally Accepted, Final Manuscript Pending [arXiv] [BibTex] @inproceedings{lakshmipathy2024kinematic, title={Kinematic Motion Retargeting for Contact-Rich Anthropomorphic Manipulations}, author={Lakshmipathy, A. S. and Hodgins, J. K and Pollard, N. S.}, journal={arXiv preprint arXiv:2402.04820}, year={2024}}
	ContactMPC: Towards Online Adaptive Control for Contact-Rich Dexterous Manipulation A.S. Lakshmipathy, N.S. Pollard Robotics: Science and Systems - 2nd Workshop on Dexterous Manipulation: Design, Perception and Control, Delft, Netherlands 2024 [PDF] [Publication] [BibTex] @inproceedings{lakshmipathy2024contactmpc, title={ContactMPC: Towards Online Adaptive Control for Contact-Rich Dexterous Manipulation}, author={Lakshmipathy, A. S. and Pollard, N. S.}, booktitle={2nd Workshop on Dexterous Manipulation: Design, Perception and Control (RSS)}, year={2024}}
	Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object Interactions A. S. Lakshmipathy, N. Feng, Y. X. Lee, M. Mahler, N.S. Pollard ACM Transactions on Graphics (Presented at SIGGRAPH), Los Angeles, USA 2023 [PDF] [Publication] [arXiv] [Video] [BibTex] @article{lakshmipathy2023contactedit, author = {Lakshmipathy, A. S. and Feng, N. and Lee, Y. X. and Mahler, M. and Pollard, N. S.}, title = {Contact Edit: Artist Tools for Intuitive Modeling of Hand-Object Interactions}, journal = {ACM Transactions on Graphics}, volume = {42}, number = {4}, month = {aug}, year = {2023}, publisher = {Association for Computing Machinery}}
	Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations A. Lakshmipathy, D. Bauer, C. Bauer, N.S. Pollard IEEE International Conference on Robotics and Automation (ICRA), Philadelphia, USA 2022 [PDF] [Publication] [arXiv] [Video] [Talk] [BibTex] @INPROCEEDINGS{laskhmipathy2022contacttransfer, author={Lakshmipathy, A. and Bauer, D. and Bauer, C. and Pollard, N. S.}, booktitle={2022 International Conference on Robotics and Automation (ICRA)}, title={Contact Transfer: A Direct, User-Driven Method for Human to Robot Transfer of Grasps and Manipulations}, year={2022}, pages={6195-6201}, doi={10.1109/ICRA46639.2022.9811739}}
	Towards Very Low-Cost Iterative Prototyping for Fully Printable Dexterous Soft Robotic Hands D. Bauer, C. Bauer, A. Lakshmipathy, R. Shu, N.S. Pollard IEEE International Conference on Soft Robotics (ROBOSOFT), Edinburgh, UK 2022 [PDF] [Publication] [arXiv] [Video] [BibTex] @INPROCEEDINGS{bauer2022prototyping, author={Bauer, D. and Bauer, C. and Lakshmipathy, A. and Shu, R. and Pollard, N. S.}, booktitle={2022 IEEE 5th International Conference on Soft Robotics (RoboSoft)}, title={Towards Very Low-Cost Iterative Prototyping for Fully Printable Dexterous Soft Robotic Hands}, year={2022}, pages={490-497}, doi={10.1109/RoboSoft54090.2022.9762122}}
	Fully Printable Low-Cost Dexterous Soft Robotic Manipulators for Agriculture D. Bauer, C. Bauer, A. Lakshmipathy, N.S. Pollard AAAI Conference on Artificial Intelligence - AI for Agriculture and Food Systems Workshop (AAAI AIFS), Vancouver, Canada 2022 [PDF] [BibTex] @inproceedings{bauer2022fully, title={Fully Printable Low-Cost Dexterous Soft Robotic Manipulators for Agriculture}, author={Bauer, D. and Bauer, C. and Lakshmipathy, A. and Pollard, N.}, booktitle={AI for Agriculture and Food Systems}, year={2022}}
	Contact Tracing: A Low Cost Reconstruction Framework for Surface Contact Interpolation A. Lakshmipathy, D. Bauer, N.S. Pollard IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Prague, Czech Republic 2021 [PDF] [Publication] [Video] [Talk] [BibTex] @INPROCEEDINGS{lakshmipathy2021contacttracing, author={Lakshmipathy, A. and Bauer, D. and Pollard, N. S.}, booktitle={2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)}, title={Contact Tracing: A Low Cost Reconstruction Framework for Surface Contact Interpolation}, year={2021}, pages={5165-5172}, doi={10.1109/IROS51168.2021.9636313}}
	Locally-Connected, Irregular Deep Neural Networks for Biomimetic Active Vision in a Simulated Human M. Nakada^, H. Chen^, A. Lakshmipathy, D. Terzopoulos IAPR International Conference on Pattern Recognition (ICPR), Milano, Italy 2021 [PDF] [Publication] [BibTex] @INPROCEEDINGS{nakada2021linet, author={Nakada, M. and Chen, H. and Lakshmipathy, A. and Terzopoulos, D.}, booktitle={2020 25th International Conference on Pattern Recognition (ICPR)}, title={Locally-Connected, Irregular Deep Neural Networks for Biomimetic Active Vision in a Simulated Human}, year={2021}, pages={4465-4472}, doi={10.1109/ICPR48806.2021.9412771}}
	Deep Learning of Neuromuscular and Visuomotor Control in a Biomimetic Simulated Humanoid M. Nakada, T. Zhou, H. Chen, A. Lakshmipathy, D. Terzopoulos IEEE Robotics and Automation Letters (RA-L) 2020 [PDF] [Publication] [BibTex] @ARTICLE{nakada2020humanoid, author={Nakada, M. and Zhou, T. and Chen, H. and Lakshmipathy, A. and Terzopoulos, D.}, journal={IEEE Robotics and Automation Letters}, title={Deep Learning of Neuromuscular and Visuomotor Control of a Biomimetic Simulated Humanoid}, year={2020}, volume={5}, number={3}, pages={3952-3959}, doi={10.1109/LRA.2020.2972829}}
	Biomimetic Eye Modeling & Deep Neuromuscular Oculomotor Control M. Nakada^, A. Lakshmipathy^, H. Chen, X. Ling, T. Zhou, D. Terzopoulos ACM Transactions on Graphics (Presented at SIGGRAPH Asia), Brisbane, Australia 2019 [PDF] [Publication] [Video] [BibTex] @article{nakada2019eye, author = {Nakada, M. and Lakshmipathy, A. and Chen, H. and Ling, X. and Zhou, T. and Terzopoulos, D.}, title = {Biomimetic Eye Modeling & Deep Neuromuscular Oculomotor Control}, year = {2019}, issue_date = {December 2019}, publisher = {Association for Computing Machinery}, volume = {38}, number = {6}, issn = {0730-0301}, url = {https://doi.org/10.1145/3355089.3356558}, doi = {10.1145/3355089.3356558}, journal = {ACM Transactions on Graphics}, month = {nov}, articleno = {221}}
	Biomimetic Modeling of the Eye and Deep Neuromuscular Oculomotor Control A. Lakshmipathy M.S. Thesis, Computer Science Department, Univeristy of California, Los Angeles 2018 [PDF] [Publication] [BibTex] @book{lakshmipathy2018biomimetic, title={Biomimetic Modeling of the Eye and Deep Neuromuscular Oculomotor Control}, author={Lakshmipathy, A. S.}, year={2018}, publisher={University of California, Los Angeles}}

^* indicates equal contribution

Last Updated: 10/25/2024