Prajval Kumar Murali

I am currently employed as a Research Scientist in corporate research at the Zeiss Group and building multi-modal robotic perception technologies since 2024.

Previously, since 2020 I worked at the BMW Group Research towards developing novel algorithms for active multi-modal sensing and perception for autonomous intelligent robots. Herein, I worked towards my doctoral dissertation (Ph.D.) affiliated with the University of Glasgow.

I have also worked as a robotics engineer at the Italian Institute of Technology from 2018 to 2020. Here, I worked in a joint lab with Danieli Automation towards robotization of a safety-critical task in the steel industry.

I obtained my Master of Science (M.S.) degree with highest distinction in the European Masters on Advanced Robotics (EMARO+), an Erasmus Mundus Master’s program at Ecole Centrale de Nantes, France and University of Genova, Italy. I worked on my M.S. thesis on human-robot collaboration in a manufacturing environment at the Schaeffler Group. I have been awarded the prestigious Erasmus Mundus Consortium Scholarship by the European Union for my master's program. I earned my bachelor's degree (B.Tech.) in engineering with highest distinctions from the National Institute of Technology Tiruchirappalli, India.

I have a strong background with C++/ Python, ROS and ML frameworks (Tensorflow/ PyTorch) and computer vision libraries (PCL, OpenCV).

Expertise: Robotics / deep learning / multi-modal perception / point cloud registration / 3D reconstruction / robot-sensor calibration / 3D computer vision / tactile sensing

Disclaimer: This is my personal website and opinions presented here are my own and do not reflect the views of my employers.

Google Scholar / LinkedIn /

Awards

Active Multi-Modal Pose Estimation

	A Shared Visuo-Tactile Interactive Perception for Robust Object Pose Estimation Prajval Kumar Murali, Bernd Porr, Mohsen Kaboli International Journal of Robotics Research (IJRR) [in press, coming soon]
	Active Visuo-Tactile Interactive Robotic Perception for Accurate Object Pose Estimation in Dense Clutter Prajval Kumar Murali, Anirvan Dutta, Michael Gentner, Etienne Burdet, Ravinder Dahiya and Mohsen Kaboli IEEE Robotics and Automation Letters (IEEE RA-L) [paper][video]
	Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace Prajval Kumar Murali, Michael Gentner, and Mohsen Kaboli IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021 [paper] [video]
	An Empirical Evaluation of Various Information Gain Criteria for Active Tactile Action Selection for Pose Estimation Prajval Kumar Murali, Ravinder Dahiya and Mohsen Kaboli The IEEE Int. Conf on Flexible and Printable Sensors and Systems (FLEPS 2022) [paper] Best Paper Award Winner
	GMCR: Graph-based Maximum Consensus Estimation for Point Cloud Registration Michael Gentner, Prajval Kumar Murali, and Mohsen Kaboli The IEEE International Conference on Robotics and Automation (ICRA 2023) [paper] Best Paper Award Finalist

Active Multi-Modal Reconstruction

Touch if it’s transparent! ACTOR: Active Tactile-based Category-Level Transparent Object Reconstruction
Prajval Kumar Murali, Bernd Porr and Mohsen Kaboli
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023

[paper]

Robust Cross-Modal Perception

	Deep Active Cross-Modal Visuo-Tactile Transfer Learning for Robotic Object Recognition Prajval Kumar Murali, Cong Wang, Dongheui Lee, Ravinder Dahiya and Mohsen Kaboli IEEE Robotics and Automation Letters (IEEE RA-L) [paper]
	Towards Robust 3D Object Recognition with Dense-to-Sparse Deep Domain Adaptation Prajval Kumar Murali , Cong Wang, Ravinder Dahiya and Mohsen Kaboli The IEEE Int. Conf on Flexible and Printable Sensors and Systems (FLEPS 2022) [paper]

Human-Robot/ Human-Vehicle Collaboration

	Intelligent In-Vehicle Interaction Technologies Prajval Kumar Murali , Mohsen Kaboli, and Ravinder Dahiya Advanced Intelligent Systems [paper]
	Deployment and Evaluation of a Flexible Human-Robot Collaboration Model Based on AND/OR Graphs in a Manufacturing Environment Prajval Kumar Murali, Kourosh Darvish, Fulvio Mastrogiovanni Springer Journal of Intelligent Service Robotics (JIST) [paper][video][code]
	A Flexible Software Architecture for Robotic Industrial Applications Angelo Rendiniello, Alberto Remus, Ines Sorrentino, Prajval Kumar Murali , Daniele Pucci, Marco Maggiali, Lorenzo Natale, Enrico Villagrossi, Andrea Polo, Alessandro Ardesi, Silvio Traversaro IEEE International Conference on Emerging Technologies and Factory Automation, ETFA 2020 [paper]

Multi-Modal Sensor Calibration

	In Situ Translational Hand-Eye Calibration of Laser Profile Sensors using Arbitrary Objects Prajval Kumar Murali, Ines Sorrentino, Angelo Rendiniello, Claudio Fantacci, Enrico Villagrossi, Andrea Polo, Alessandro Ardesi, Marco Maggiali, Lorenzo Natale, Daniele Pucci, Silvio Traversaro IEEE International Conference on Robotics and Automation, ICRA 2021 [paper]
	Active calibration of tactile sensors mounted on a robotic hand Benjamin Navarro, Prajval Kumar Murali , Aicha Fonte, Philippe Fraisse, Gérard Poisson, Andrea Cherubini IEEE/RSJ Intelligent RObots and Systems IROS 2015, Workshop on Multimodal sensor-based robot control for HRI and soft manipulation [paper][video]

Website by the courtesy of Jon Barron.