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ORCIDKenneth Y. Goldberg
Ken Goldberg
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- affiliation: University of California, Berkeley, USA
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2020 – today
- 2023
[j102]Frank C. Park
, Nukula Viswanadham, Ken Goldberg, Michael Yu Wang, Yu Sun, MengChu Zhou, Bengt Lennartson, Fan-Tien Cheng:
Peter Luh, the Father of Automation [In Memoriam]. IEEE Robotics Autom. Mag. 30(1): 112-113 (2023)- [j101]Frank C. Park, Nukula Viswanadham, Ken Goldberg, Michael Yu Wang, Yu Sun, MengChu Zhou, Bengt Lennartson, Fan-Tien Cheng:
In Memoriam. IEEE Trans Autom. Sci. Eng. 20(2): 739-740 (2023) - [j100]Minho Hwang, Jeffrey Ichnowski, Brijen Thananjeyan, Daniel Seita, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg:
Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans. IEEE Trans Autom. Sci. Eng. 20(2): 909-922 (2023) - [c282]Karthik Dharmarajan, Will Panitch, Baiyu Shi, Huang Huang, Lawrence Yunliang Chen, Thomas Low, Danyal Fer, Ken Goldberg:
A Trimodal Framework for Robot-Assisted Vascular Shunt Insertion When a Supervising Surgeon is Local, Remote, or Unavailable. ISMR 2023: 1-8 - [i114]Satvik Sharma, Kaushik Shivakumar, Huang Huang, Ryan Hoque, Alishba Imran, Brian Ichter, Ken Goldberg:
From Occlusion to Insight: Object Search in Semantic Shelves using Large Language Models. CoRR abs/2302.12915 (2023) - [i113]Vainavi Viswanath, Kaushik Shivakumar, Jainil Ajmera, Mallika Parulekar, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg:
Learning to Trace and Untangle Semi-planar Knots (TUSK). CoRR abs/2303.08975 (2023) - [i112]Justin Kerr, Chung Min Kim, Ken Goldberg, Angjoo Kanazawa, Matthew Tancik:
LERF: Language Embedded Radiance Fields. CoRR abs/2303.09553 (2023) - [i111]Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg:
Bagging by Learning to Singulate Layers Using Interactive Perception. CoRR abs/2303.16898 (2023) - [i110]Huang Huang, Antonio Loquercio, Ashish Kumar, Neerja Thakkar, Ken Goldberg, Jitendra Malik:
More Than an Arm: Using a Manipulator as a Tail for Enhanced Stability in Legged Locomotion. CoRR abs/2305.01648 (2023) - [i109]Alejandro Escontrela, Ademi Adeniji, Wilson Yan, Ajay Jain, Xue Bin Peng, Ken Goldberg, Youngwoon Lee, Danijar Hafner, Pieter Abbeel:
Video Prediction Models as Rewards for Reinforcement Learning. CoRR abs/2305.14343 (2023) - 2022
- [j99]Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg:
VisuoSpatial Foresight for physical sequential fabric manipulation. Auton. Robots 46(1): 175-199 (2022) - [j98]Paolo Fiorini, Kenneth Y. Goldberg, Yunhui Liu, Russell H. Taylor:
Concepts and Trends in Autonomy for Robot-Assisted Surgery. Proc. IEEE 110(7): 993-1011 (2022) - [j97]Bradley J. Nelson, Pierre E. Dupont, Dario Floreano, Ken Goldberg, Hongri Gu, Neil Jacobstein, Cecilia Laschi, Hod Lipson:
What we look for at Science Robotics. Sci. Robotics 7(71) (2022) - [j96]Yahav Avigal, William Wong, Mark Presten, Mark Theis, Shrey Aeron, Anna Deza, Satvik Sharma, Rishi Parikh, Sebastian Oehme, Stefano Carpin, Joshua H. Viers, Stavros Vougioukas, Ken Goldberg:
Simulating Polyculture Farming to Learn Automation Policies for Plant Diversity and Precision Irrigation. IEEE Trans Autom. Sci. Eng. 19(3): 1352-1364 (2022) - [c281]Mark Presten, Rishi Parikh, Shrey Aeron, Sandeep Mukherjee, Simeon Adebola, Satvik Sharma, Mark Theis, Walter Teitelbaum, Ken Goldberg:
Automated Pruning of Polyculture Plants. CASE 2022: 242-249 - [c280]Lawrence Yunliang Chen, Huang Huang, Michael Danielczuk, Jeffrey Ichnowski, Ken Goldberg:
Optimal Shelf Arrangement to Minimize Robot Retrieval Time. CASE 2022: 993-1000 - [c279]Satvik Sharma, Ellen R. Novoseller, Vainavi Viswanath, Zaynah Javed, Rishi Parikh, Ryan Hoque, Ashwin Balakrishna, Daniel S. Brown, Ken Goldberg:
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies. CASE 2022: 1116-1123 - [c278]Sophea Bonne, Will Panitch, Karthik Dharmarajan, Kishore Srinivas, Jerri-Lynn Kincade, Thomas Low, Bruce Knoth, Cregg Cowan, Danyal Fer, Brijen Thananjeyan, Justin Kerr, Jeffrey Ichnowski, Ken Goldberg:
A Digital Twin Framework for Telesurgery in the Presence of Varying Network Quality of Service. CASE 2022: 1325-1332 - [c277]Justin Kerr, Letian Fu, Huang Huang, Yahav Avigal, Matthew Tancik, Jeffrey Ichnowski, Angjoo Kanazawa, Ken Goldberg:
Evo-NeRF: Evolving NeRF for Sequential Robot Grasping of Transparent Objects. CoRL 2022: 353-367 - [c276]Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg:
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision. CoRL 2022: 368-380 - [c275]Philipp Wu, Alejandro Escontrela, Danijar Hafner, Pieter Abbeel, Ken Goldberg:
DayDreamer: World Models for Physical Robot Learning. CoRL 2022: 2226-2240 - [c274]Aditya Ganapathi, Pete Florence, Jake Varley, Kaylee Burns, Ken Goldberg, Andy Zeng:
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning. ICRA 2022: 2656-2662 - [c273]Jeffrey Ichnowski, Yahav Avigal, Yi Liu, Ken Goldberg:
GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport. ICRA 2022: 5255-5261 - [c272]Huang Huang, Michael Danielczuk, Chung Min Kim, Letian Fu, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, Ken Goldberg:
Mechanical Search on Shelves using a Novel "Bluction" Tool. ICRA 2022: 6158-6164 - [c271]Chung Min Kim, Michael Danielczuk, Isabella Huang, Ken Goldberg:
IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model. ICRA 2022: 6180-6187 - [c270]Letian Fu, Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Jeffrey Ichnowski, Eugen Solowjow, Ken Goldberg:
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping. ICRA 2022: 8259-8265 - [c269]Vincent Lim, Huang Huang, Lawrence Yunliang Chen, Jonathan Wang, Jeffrey Ichnowski, Daniel Seita, Michael Laskey, Ken Goldberg:
Real2Sim2Real: Self-Supervised Learning of Physical Single-Step Dynamic Actions for Planar Robot Casting. ICRA 2022: 8282-8289 - [c268]Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg:
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles. ICRA 2022: 9637-9643 - [c267]Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Kröger, Ken Goldberg:
SpeedFolding: Learning Efficient Bimanual Folding of Garments. IROS 2022: 1-8 - [c266]Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, Pieter Abbeel:
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions. IROS 2022: 25-32 - [c265]Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong, Johnny Lee, Andy Zeng, Vincent Vanhoucke, Ken Goldberg:
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research. IROS 2022: 251-257 - [c264]Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg:
All You Need is LUV: Unsupervised Collection of Labeled Images Using UV-Fluorescent Markings. IROS 2022: 3241-3248 - [c263]Lawrence Yunliang Chen, Huang Huang, Ellen R. Novoseller, Daniel Seita, Jeffrey Ichnowski, Michael Laskey, Richard Cheng, Thomas Kollar, Ken Goldberg:
Efficiently Learning Single-Arm Fling Motions to Smooth Garments. ISRR 2022: 36-51 - [c262]Huang Huang, Letian Fu, Michael Danielczuk, Chung Min Kim, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, Ken Goldberg:
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects. ISRR 2022: 205-221 - [c261]Wisdom C. Agboh, Jeffrey Ichnowski, Ken Goldberg, Mehmet Remzi Dogar:
Multi-object Grasping in the Plane. ISRR 2022: 222-238 - [c260]Albert Wilcox, Ashwin Balakrishna, Jules Dedieu, Wyame Benslimane, Daniel S. Brown, Ken Goldberg:
Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations. NeurIPS 2022 - [c259]Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao, Ken Goldberg:
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport. WAFR 2022: 488-505 - [i108]Huang Huang, Michael Danielczuk, Chung Min Kim, Letian Fu, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, Ken Goldberg:
Mechanical Search on Shelves using a Novel "Bluction" Tool. CoRR abs/2201.08968 (2022) - [i107]Aditya Ganapathi, Pete Florence, Jake Varley, Kaylee Burns, Ken Goldberg, Andy Zeng:
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning. CoRR abs/2203.01983 (2022) - [i106]Vincent Lim, Ellen R. Novoseller, Jeffrey Ichnowski, Huang Huang, Ken Goldberg:
Policy-Based Bayesian Experimental Design for Non-Differentiable Implicit Models. CoRR abs/2203.04272 (2022) - [i105]Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg:
All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators. CoRR abs/2203.04566 (2022) - [i104]Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao, Ken Goldberg:
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport. CoRR abs/2203.08359 (2022) - [i103]Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, Pieter Abbeel:
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions. CoRR abs/2203.15103 (2022) - [i102]Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong, Johnny Lee, Andy Zeng, Vincent Vanhoucke, Ken Goldberg:
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research. CoRR abs/2204.10297 (2022) - [i101]Sarah E. Chasins, Alvin Cheung, Natacha Crooks, Ali Ghodsi, Ken Goldberg, Joseph E. Gonzalez, Joseph M. Hellerstein, Michael I. Jordan, Anthony D. Joseph, Michael W. Mahoney, Aditya G. Parameswaran, David A. Patterson, Raluca Ada Popa, Koushik Sen, Scott Shenker, Dawn Song, Ion Stoica:
The Sky Above The Clouds. CoRR abs/2205.07147 (2022) - [i100]Jeffrey Ichnowski, Kaiyuan Chen, Karthik Dharmarajan, Simeon Adebola, Michael Danielczuk, Victor Mayoral Vilches, Hugo Zhan, Derek Xu, Ramtin Ghassemi, John Kubiatowicz, Ion Stoica, Joseph Gonzales, Ken Goldberg:
FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2. CoRR abs/2205.09778 (2022) - [i99]Wisdom C. Agboh, Jeffrey Ichnowski, Ken Goldberg, Mehmet Remzi Dogar:
Multi-Object Grasping in the Plane. CoRR abs/2206.00229 (2022) - [i98]Lawrence Yunliang Chen, Huang Huang, Michael Danielczuk, Jeffrey Ichnowski, Ken Goldberg:
Optimal Shelf Arrangement to Minimize Robot Retrieval Time. CoRR abs/2206.08607 (2022) - [i97]Lawrence Yunliang Chen, Huang Huang, Ellen R. Novoseller, Daniel Seita, Jeffrey Ichnowski, Michael Laskey, Richard Cheng, Thomas Kollar, Ken Goldberg:
Efficiently Learning Single-Arm Fling Motions to Smooth Garments. CoRR abs/2206.08921 (2022) - [i96]Philipp Wu, Alejandro Escontrela, Danijar Hafner, Ken Goldberg, Pieter Abbeel:
DayDreamer: World Models for Physical Robot Learning. CoRR abs/2206.14176 (2022) - [i95]Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg:
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision. CoRR abs/2206.14349 (2022) - [i94]Satvik Sharma, Ellen R. Novoseller, Vainavi Viswanath, Zaynah Javed, Rishi Parikh, Ryan Hoque, Ashwin Balakrishna, Daniel S. Brown, Ken Goldberg:
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies. CoRR abs/2207.00911 (2022) - [i93]Huang Huang, Letian Fu, Michael Danielczuk, Chung Min Kim, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, Ken Goldberg:
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects. CoRR abs/2207.02347 (2022) - [i92]Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen R. Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Autonomously Untangling Long Cables. CoRR abs/2207.07813 (2022) - [i91]Mark Presten, Rishi Parikh, Shrey Aeron, Sandeep Mukherjee, Simeon Adebola, Satvik Sharma, Mark Theis, Walter Teitelbaum, Ken Goldberg:
Automated Pruning of Polyculture Plants. CoRR abs/2208.10472 (2022) - [i90]Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Kröger, Ken Goldberg:
SpeedFolding: Learning Efficient Bimanual Folding of Garments. CoRR abs/2208.10552 (2022) - [i89]Justin Kerr, Huang Huang, Albert Wilcox, Ryan Hoque, Jeffrey Ichnowski, Roberto Calandra, Ken Goldberg:
Learning Self-Supervised Representations from Vision and Touch for Active Sliding Perception of Deformable Surfaces. CoRR abs/2209.13042 (2022) - [i88]Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg:
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception. CoRR abs/2209.13706 (2022) - [i87]Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, Sachin Chitta:
Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion. CoRR abs/2210.01340 (2022) - [i86]Wisdom C. Agboh, Satvik Sharma, Kishore Srinivas, Mallika Parulekar, Gaurav Datta, Tianshuang Qiu, Jeffrey Ichnowski, Eugen Solowjow, Mehmet Remzi Dogar, Ken Goldberg:
Learning to Efficiently Plan Robust Frictional Multi-Object Grasps. CoRR abs/2210.07420 (2022) - [i85]Albert Wilcox, Ashwin Balakrishna, Jules Dedieu, Wyame Benslimane, Daniel S. Brown, Ken Goldberg:
Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations. CoRR abs/2210.07432 (2022) - [i84]Kaiyuan Chen, Jiachen Yuan, Nikhil Jha, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg:
FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with Global Addressability. CoRR abs/2210.11691 (2022) - [i83]Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg:
AutoBag: Learning to Open Plastic Bags and Insert Objects. CoRR abs/2210.17217 (2022) - [i82]Karthik Dharmarajan, Will Panitch, Muyan Jiang, Kishore Srinivas, Baiyu Shi, Yahav Avigal, Huang Huang, Thomas Low, Danyal Fer, Ken Goldberg:
Automating Vascular Shunt Insertion with the dVRK Surgical Robot. CoRR abs/2211.02293 (2022) - 2021
- [j95]Michael C. Welle, Anastasiia Varava, Jeffrey Mahler, Ken Goldberg, Danica Kragic, Florian T. Pokorny:
Partial caging: a clearance-based definition, datasets, and deep learning. Auton. Robots 45(5): 647-664 (2021) - [j94]Henrik I. Christensen, Nancy M. Amato, Holly A. Yanco, Maja J. Mataric, Howie Choset, Ann W. Drobnis, Ken Goldberg, Jessy W. Grizzle, Gregory D. Hager, John M. Hollerbach, Seth Hutchinson, Venkat Krovi, Daniel Lee, William D. Smart, Jeff Trinkle, Gaurav S. Sukhatme:
A Roadmap for US Robotics - From Internet to Robotics 2020 Edition. Found. Trends Robotics 8(4): 307-424 (2021) - [j93]Jonathan N. Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani, Ken Goldberg:
Dynamic regret convergence analysis and an adaptive regularization algorithm for on-policy robot imitation learning. Int. J. Robotics Res. 40(10-11) (2021) - [j92]Ajay Kumar Tanwani, Andy Yan, Jonathan Lee, Sylvain Calinon, Ken Goldberg:
Sequential robot imitation learning from observations. Int. J. Robotics Res. 40(10-11) (2021) - [j91]Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg:
Recovery RL: Safe Reinforcement Learning With Learned Recovery Zones. IEEE Robotics Autom. Lett. 6(3): 4915-4922 (2021) - [j90]Ken Goldberg:
Getting a grip on reality. Sci. Robotics 6(54): 9225 (2021) - [j89]Guang-Zhong Yang, Steven H. Collins, Paolo Dario, Peer Fischer, Ken Goldberg, Cecilia Laschi, Marcia McNutt:
Five years of Science Robotics. Sci. Robotics 6(61) (2021) - [j88]Sebastian Höfer, Kostas E. Bekris, Ankur Handa, Juan Camilo Gamboa, Melissa Mozifian, Florian Golemo, Christopher G. Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White:
Sim2Real in Robotics and Automation: Applications and Challenges. IEEE Trans Autom. Sci. Eng. 18(2): 398-400 (2021) - [c258]Simeon Adebola, Ken Goldberg:
Assisting Polyculture Farming in Africa. AFRICON 2021: 1-2 - [c257]Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel S. Brown, Daniel Seita, Brijen Thananjeyan, Ellen R. Novoseller, Ken Goldberg:
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning. CASE 2021: 502-509 - [c256]Shivin Devgon, Jeffrey Ichnowski, Michael Danielczuk, Daniel S. Brown, Ashwin Balakrishna, Shirin Joshi, Eduardo M. C. Rocha, Eugen Solowjow, Ken Goldberg:
Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities. CASE 2021: 1124-1131 - [c255]Yahav Avigal, Vishal Satish, Zachary Tam, Huang Huang, Harry Zhang, Michael Danielczuk, Jeffrey Ichnowski, Ken Goldberg:
AVPLUG: Approach Vector PLanning for Unicontact Grasping amid Clutter. CASE 2021: 1140-1147 - [c254]Kaiyuan Chen, Yafei Liang, Nikhil Jha, Jeffrey Ichnowski, Michael Danielczuk, Joseph Gonzalez, John Kubiatowicz, Ken Goldberg:
FogROS: An Adaptive Framework for Automating Fog Robotics Deployment. CASE 2021: 2035-2042 - [c253]Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg:
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects. CoRL 2021: 526-536 - [c252]Ryan Hoque, Ashwin Balakrishna, Ellen R. Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg:
ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning. CoRL 2021: 598-608 - [c251]Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg:
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks. CoRL 2021: 959-969 - [c250]Zaynah Javed, Daniel S. Brown, Satvik Sharma, Jerry Zhu, Ashwin Balakrishna, Marek Petrik, Anca D. Dragan, Ken Goldberg:
Policy Gradient Bayesian Robust Optimization for Imitation Learning. ICML 2021: 4785-4796 - [c249]Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph Gonzalez:
Resource Allocation in Multi-armed Bandit Exploration: Overcoming Sublinear Scaling with Adaptive Parallelism. ICML 2021: 10236-10246 - [c248]Yahav Avigal, Anna Deza, William Wong, Sebastian Oehme, Mark Presten, Mark Theis, Jackson Chui, Paul Shao, Huang Huang, Atsunobu Kotani, Satvik Sharma, Rishi Parikh, Michael Luo, Sandeep Mukherjee, Stefano Carpin, Joshua H. Viers, Stavros Vougioukas, Ken Goldberg:
Learning Seed Placements and Automation Policies for Polyculture Farming with Companion Plants. ICRA 2021: 902-908 - [c247]Harry Zhang, Jeffrey Ichnowski, Daniel Seita, Jonathan Wang, Huang Huang, Ken Goldberg:
Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables. ICRA 2021: 4560-4567 - [c246]Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng:
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks. ICRA 2021: 4568-4575 - [c245]Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg:
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation. ICRA 2021: 7166-7173 - [c244]Raghav Anand, Jeffrey Ichnowski, Chenggang Wu, Joseph M. Hellerstein, Joseph E. Gonzalez, Ken Goldberg:
Serverless Multi-Query Motion Planning for Fog Robotics. ICRA 2021: 7457-7463 - [c243]Andrey Kurenkov, Roberto Martín-Martín, Jeffrey Ichnowski, Ken Goldberg, Silvio Savarese:
Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search. ICRA 2021: 11227-11233 - [c242]Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg:
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics. ICRA 2021: 11515-11522 - [c241]Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica S. Li, Yunliang Chen, Ken Goldberg, Hannah S. Stuart:
A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration. IROS 2021: 1786-1793 - [c240]Huang Huang, Marcus Dominguez-Kuhne, Vishal Satish, Michael Danielczuk, Kate Sanders, Jeffrey Ichnowski, Andrew Lee, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg:
Mechanical Search on Shelves using Lateral Access X-RAY. IROS 2021: 2045-2052 - [c239]Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen R. Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Disentangling Dense Multi-Cable Knots. IROS 2021: 3731-3738 - [c238]Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato, Goran Banjac, Michael Luo, Francesco Borrelli, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg:
Accelerating Quadratic Optimization with Reinforcement Learning. NeurIPS 2021: 21043-21055 - [c237]Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph Gonzalez, Ken Goldberg:
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies. Robotics: Science and Systems 2021 - [c236]Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg:
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. WAFR 2021: 1-17 - [i81]Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg:
VisuoSpatial Foresight for Physical Sequential Fabric Manipulation. CoRR abs/2102.09754 (2021) - [i80]Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel S. Brown, Daniel Seita, Brijen Thananjeyan, Ellen R. Novoseller, Ken Goldberg:
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning. CoRR abs/2104.00053 (2021) - [i79]Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica S. Li, Ken Goldberg, Hannah S. Stuart:
A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration. CoRR abs/2105.02345 (2021) - [i78]Shivin Devgon, Jeffrey Ichnowski, Ashwin Balakrishna, Harry Zhang, Ken Goldberg:
Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms. CoRR abs/2105.14246 (2021) - [i77]Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen R. Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Disentangling Dense Multi-Cable Knots. CoRR abs/2106.02252 (2021) - [i76]Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez:
PAC Best Arm Identification Under a Deadline. CoRR abs/2106.03221 (2021) - [i75]Zaynah Javed, Daniel S. Brown, Satvik Sharma, Jerry Zhu, Ashwin Balakrishna, Marek Petrik, Anca D. Dragan, Ken Goldberg:
Policy Gradient Bayesian Robust Optimization for Imitation Learning. CoRR abs/2106.06499 (2021) - [i74]Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg:
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Iterative Tasks. CoRR abs/2107.04775 (2021) - [i73]Shivin Devgon, Jeffrey Ichnowski, Michael Danielczuk, Daniel S. Brown, Ashwin Balakrishna, Shirin Joshi, Eduardo M. C. Rocha, Eugen Solowjow, Ken Goldberg:
Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities. CoRR abs/2107.05789 (2021) - [i72]Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies. CoRR abs/2107.08942 (2021) - [i71]Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato, Goran Banjac, Michael Luo, Francesco Borrelli, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg:
Accelerating Quadratic Optimization with Reinforcement Learning. CoRR abs/2107.10847 (2021) - [i70]Kaiyuan Chen, Yafei Liang, Nikhil Jha, Jeffrey Ichnowski, Michael Danielczuk, Joseph Gonzalez, John Kubiatowicz, Ken Goldberg:
FogROS: An Adaptive Framework for Automating Fog Robotics Deployment. CoRR abs/2108.11355 (2021) - [i69]