Prajval Kumar Murali, Ph.D.

I am an R&D Scientist at the Zeiss Group, specializing in AI-driven computer vision and robotic perception technologies. My main focus is developing state-of-the-art AI models for business use-cases at Zeiss.

Previously, I worked at the BMW Group on developing novel AI algorithms for multi-modal perception from various sensors such as visual cameras and tactile sensors for robotic manipulation.

Prior to joining BMW, I worked as a robotics engineer at the Italian Institute of Technology in Genova, Italy. Here, I worked in a joint lab with Danieli Automation towards robotization of a safety-critical task in the steel industry.

I hold Ph.D. and M.S. degrees in AI and Robotics Engineering from University of Glasgow, Scotland and University of Genova, Italy respectively. I also have a B.Tech degree from National Institute of Technology Trichy, India.

Technical Expertise
Robotics AI & Deep Learning 3D Computer Vision Tactile Sensing Generative AI Foundation Models
Programming Expertise
C++ Python Swift ROS PyTorch
Prajval Kumar Murali
Disclaimer: This is my personal website and opinions presented here are my own and do not reflect the views of my employers.

Awards & Recognition

Best Paper Award
ICRA Award

Robotic Perception - Vision & Tactile Sensing

IJRR Paper

A Shared Visuo-Tactile Interactive Perception for Robust Object Pose Estimation

Prajval Kumar Murali, Bernd Porr, Mohsen Kaboli
International Journal of Robotics Research (IJRR)
RAL ICRA

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, Mohsen Kaboli
IEEE Robotics and Automation Letters (RA-L)
RAL IROS 2022

Deep Active Cross-Modal Visuo-Tactile Transfer Learning for Robotic Object Recognition

Prajval Kumar Murali, Cong Wang, Dongheui Lee, Ravinder Dahiya, Mohsen Kaboli
IEEE Robotics and Automation Letters (RA-L)
IROS 2021

Active Visuo-Tactile Point Cloud Registration for Accurate Pose Estimation of Objects in an Unknown Workspace

Prajval Kumar Murali, Michael Gentner, Mohsen Kaboli
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2021
FLEPS 2022

An Empirical Evaluation of Various Information Gain Criteria for Active Tactile Action Selection for Pose Estimation

Prajval Kumar Murali, Ravinder Dahiya, Mohsen Kaboli
IEEE Int. Conf on Flexible and Printable Sensors and Systems (FLEPS 2022)
🏆 Best Paper Award
ICRA 2023

GMCR: Graph-based Maximum Consensus Estimation for Point Cloud Registration

Michael Gentner, Prajval Kumar Murali, Mohsen Kaboli
IEEE International Conference on Robotics and Automation (ICRA 2023)
🏆 Best Paper Award Finalist

3D Object Reconstruction

IROS 2023

Touch if it's transparent! ACTOR: Active Tactile-based Category-Level Transparent Object Reconstruction

Prajval Kumar Murali, Bernd Porr, Mohsen Kaboli
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2023

Human-Robot Collaboration

AIS

Intelligent In-Vehicle Interaction Technologies

Prajval Kumar Murali, Mohsen Kaboli, Ravinder Dahiya
Advanced Intelligent Systems
JIST 2020

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)
ETFA 2020

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)

Sensor Calibration

ICRA 2021

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)
IROS 2015

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