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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
- 2021
[j84]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)- [j83]Sebastian Höfer, Kostas 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) - [i63]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) - [i62]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) - [i61]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) - 2020
- [j82]Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg:
Safety Augmented Value Estimation From Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks. IEEE Robotics Autom. Lett. 5(2): 3612-3619 (2020) - [j81]Ajay Kumar Tanwani, Raghav Anand, Joseph E. Gonzalez, Ken Goldberg:
RILaaS: Robot Inference and Learning as a Service. IEEE Robotics Autom. Lett. 5(3): 4423-4430 (2020) - [j80]Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg:
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Fiducial Sensing and Recurrent Neural Networks. IEEE Robotics Autom. Lett. 5(4): 5937-5944 (2020) - [j79]Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin:
Multirobot Routing Algorithms for Robots Operating in Vineyards. IEEE Trans Autom. Sci. Eng. 17(3): 1184-1194 (2020) - [c229]Ching-An Cheng, Jonathan Lee, Ken Goldberg, Byron Boots:
Online Learning with Continuous Variations: Dynamic Regret and Reductions. AISTATS 2020: 2218-2228 - [c228]Jingyi Song, Ajay Kumar Tanwani, Jeffrey Ichnowski, Michael Danielczuk, Kate Sanders, Jackson Chui, Juan Aparicio Ojea, Ken Goldberg:
Robust Task-Based Grasping as a Service. CASE 2020: 22-28 - [c227]Eugen Solowjow, Ines Ugalde, Yash Shahapurkar, Juan Aparicio, Jeffrey Mahler, Vishal Satish, Ken Goldberg, Heiko Claussen:
Industrial Robot Grasping with Deep Learning using a Programmable Logic Controller (PLC). CASE 2020: 97-103 - [c226]Han Yu Li, Michael Danielczuk, Ashwin Balakrishna, Vishal Satish, Ken Goldberg:
Accelerating Grasp Exploration by Leveraging Learned Priors. CASE 2020: 110-117 - [c225]Yahav Avigal, Jensen Gao, William Wong, Kevin Li, Grady Pierroz, Fang Shuo Deng, Mark Theis, Mark Presten, Ken Goldberg:
Simulating Polyculture Farming to Tune Automation Policies for Plant Diversity and Precision Irrigation. CASE 2020: 238-245 - [c224]Kate Sanders, Michael Danielczuk, Jeffrey Mahler, Ajay Kumar Tanwani, Ken Goldberg:
Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking. CASE 2020: 1141-1148 - [c223]Andrew Li, Michael Danielczuk, Ken Goldberg:
One-Shot Shape-Based Amodal-to-Modal Instance Segmentation. CASE 2020: 1375-1382 - [c222]Shivin Devgon, Jeffrey Ichnowski, Ashwin Balakrishna, Harry Zhang, Ken Goldberg:
Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms. CASE 2020: 1453-1460 - [c221]Harry Zhang, Jeffrey Ichnowski, Yahav Avigal, Joseph Gonzales, Ion Stoica, Ken Goldberg:
Dex-Net AR: Distributed Deep Grasp Planning Using a Commodity Cellphone and Augmented Reality App. ICRA 2020: 552-558 - [c220]Jingyi Xu, Michael Danielczuk, Jeffrey Ichnowski, Jeffrey Mahler, Eckehard G. Steinbach, Ken Goldberg:
Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects. ICRA 2020: 1546-1552 - [c219]Ajay Kumar Tanwani, Pierre Sermanet, Andy Yan, Raghav Anand, Mariano Phielipp, Ken Goldberg:
Motion2Vec: Semi-Supervised Representation Learning from Surgical Videos. ICRA 2020: 2174-2181 - [c218]Jeffrey Ichnowski, William Lee, Victor Murta, Samuel Paradis, Ron Alterovitz, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg:
Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing. ICRA 2020: 4232-4238 - [c217]Jeffrey Ichnowski, Michael Danielczuk, Jingyi Xu, Vishal Satish, Ken Goldberg:
GOMP: Grasp-Optimized Motion Planning for Bin Picking. ICRA 2020: 5270-5277 - [c216]Jingyi Xu, Michael Danielczuk, Eckehard G. Steinbach, Ken Goldberg:
6DFC: Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones. ICRA 2020: 7891-7897 - [c215]Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg:
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data. ICRA 2020: 9411-9418 - [c214]Michael Danielczuk, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg:
X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions. IROS 2020: 9577-9584 - [c213]Daniel Seita, Aditya Ganapathi, Ryan Hoque, Minho Hwang, Edward Cen, Ajay Kumar Tanwani, Ashwin Balakrishna, Brijen Thananjeyan, Jeffrey Ichnowski, Nawid Jamali, Katsu Yamane, Soshi Iba, John F. Canny, Ken Goldberg:
Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor. IROS 2020: 9651-9658 - [c212]Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg:
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot. ISMR 2020: 22-29 - [e2]Ken Goldberg, Pieter Abbeel, Kostas Bekris, Lauren Miller:
Algorithmic Foundations of Robotics XII, Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics, WAFR 2016, San Francisco, California, USA, December 18-20, 2016. Springer Proceedings in Advanced Robotics 13, Springer 2020, ISBN 978-3-030-43088-7 [contents] - [i60]Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg:
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot. CoRR abs/2002.06302 (2020) - [i59]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. CoRR abs/2003.01410 (2020) - [i58]Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg:
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data. CoRR abs/2003.01835 (2020) - [i57]Jeffrey Ichnowski, Michael Danielczuk, Jingyi Xu, Vishal Satish, Ken Goldberg:
GOMP: Grasp-Optimized Motion Planning for Bin Picking. CoRR abs/2003.02401 (2020) - [i56]Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg:
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation. CoRR abs/2003.08520 (2020) - [i55]Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg:
VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation. CoRR abs/2003.09044 (2020) - [i54]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 to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images. CoRR abs/2003.12698 (2020) - [i53]Michael Danielczuk, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg:
X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions. CoRR abs/2004.09039 (2020) - [i52]Eugen Solowjow, Ines Ugalde, Yash Shahapurkar, Juan Aparicio, Jeffrey Mahler, Vishal Satish, Ken Goldberg, Heiko Claussen:
Industrial Robot Grasping with Deep Learning using a Programmable Logic Controller (PLC). CoRR abs/2004.10251 (2020) - [i51]Ajay Kumar Tanwani, Pierre Sermanet, Andy Yan, Raghav Anand, Mariano Phielipp, Ken Goldberg:
Motion2Vec: Semi-Supervised Representation Learning from Surgical Videos. CoRR abs/2006.00545 (2020) - [i50]Kate Sanders, Michael Danielczuk, Jeffrey Mahler, Ajay Kumar Tanwani, Ken Goldberg:
Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking. CoRR abs/2007.10420 (2020) - [i49]Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin:
Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores. CoRR abs/2009.09408 (2020) - [i48]Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Ryan Hoque, Joseph E. Gonzalez, Ken Goldberg:
MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects. CoRR abs/2010.04339 (2020) - [i47]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. CoRR abs/2010.15920 (2020) - [i46]Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez:
Resource Allocation in Multi-armed Bandit Exploration: Overcoming Nonlinear Scaling with Adaptive Parallelism. CoRR abs/2011.00330 (2020) - [i45]Harry Zhang, Jeffrey Ichnowski, Daniel Seita, Jonathan Wang, Ken Goldberg:
Robots of the Lost Arc: Learning to Dynamically Manipulate Fixed-Endpoint Ropes and Cables. CoRR abs/2011.04840 (2020) - [i44]Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Untangling Dense Knots by Learning Task-Relevant Keypoints. CoRR abs/2011.04999 (2020) - [i43]Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Shivin Devgon, Ken Goldberg:
Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects. CoRR abs/2011.05632 (2020) - [i42]Han Yu Li, Michael Danielczuk, Ashwin Balakrishna, Vishal Satish, Ken Goldberg:
Accelerating Grasp Exploration by Leveraging Learned Priors. CoRR abs/2011.05661 (2020) - [i41]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. CoRR abs/2011.06163 (2020) - [i40]Huang Huang, Marcus Dominguez-Kuhne, Jeffrey Ichnowski, Vishal Satish, Michael Danielczuk, Kate Sanders, Andrew Lee, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg:
Mechanical Search on Shelves using Lateral Access X-RAY. CoRR abs/2011.11696 (2020) - [i39]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. CoRR abs/2012.03385 (2020) - [i38]Sebastian Höfer, Kostas Bekris, Ankur Handa, Juan Camilo Gamboa Higuera, Florian Golemo, Melissa Mozifian, Christopher G. Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White:
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R: SS 2020 Workshop. CoRR abs/2012.03806 (2020) - [i37]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. CoRR abs/2012.04060 (2020) - [i36]Minho Hwang, Brijen Thananjeyan, Daniel Seita, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg:
Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks. CoRR abs/2012.12844 (2020)
2010 – 2019
- 2019
- [j78]Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, Ken Goldberg:
SWIRL: A sequential windowed inverse reinforcement learning algorithm for robot tasks with delayed rewards. Int. J. Robotics Res. 38(2-3) (2019) - [j77]Mo Zhou, Yoshimi Fukuoka, Ken Goldberg, Eric Vittinghoff, Anil Aswani:
Applying machine learning to predict future adherence to physical activity programs. BMC Medical Informatics Decis. Mak. 19(1): 169:1-169:11 (2019) - [j76]Vishal Satish, Jeffrey Mahler, Ken Goldberg:
On-Policy Dataset Synthesis for Learning Robot Grasping Policies Using Fully Convolutional Deep Networks. IEEE Robotics Autom. Lett. 4(2): 1357-1364 (2019) - [j75]Matthew Matl, Vishal Satish, Michael Danielczuk, Bill DeRose, Stephen McKinley, Ken Goldberg:
Learning ambidextrous robot grasping policies. Sci. Robotics 4(26) (2019) - [c211]Tiffany Shlain, Ken Goldberg:
Screen Smashing: Iconoclasty in an Age of Illusionary Intelligence (Sheridan See C&C'19 id# cckn07dis for correct DOI & pdf). Conference on Designing Interactive Systems 2019: 5 - [c210]Tiffany Shlain, Ken Goldberg:
Screen Smashing: Iconoclasty in an Age of Illusionary Intelligence. Creativity & Cognition 2019: 258 - [c209]Roy Fox, Ron Berenstein, Ion Stoica, Ken Goldberg:
Multi-Task Hierarchical Imitation Learning for Home Automation. CASE 2019: 1-8 - [c208]Priya Sundaresan, Brijen Thananjeyan, Johnathan Chiu, Danyal Fer, Ken Goldberg:
Automated Extraction of Surgical Needles from Tissue Phantoms. CASE 2019: 170-177 - [c207]David Wang, David Tseng, Pusong Li, Yiding Jiang, Menglong Guo, Michael Danielczuk, Jeffrey Mahler, Jeffrey Ichnowski, Ken Goldberg:
Adversarial Grasp Objects. CASE 2019: 241-248 - [c206]Benno Staub, Ajay Kumar Tanwani, Jeffrey Mahler, Michel Breyer, Michael Laskey, Yutaka Takaoka, Max Bajracharya, Roland Siegwart, Ken Goldberg:
Dex-Net MM: Deep Grasping for Surface Decluttering with a Low-Precision Mobile Manipulator. CASE 2019: 1373-1379 - [c205]Christopher Correa, Jeffrey Mahler, Michael Danielczuk, Ken Goldberg:
Robust Toppling for Vacuum Suction Grasping. CASE 2019: 1421-1428 - [c204]Zisu Dong, Sanjay Krishnan, Sona Dolasia, Ashwin Balakrishna, Michael Danielczuk, Ken Goldberg:
Automating Planar Object Singulation by Linear Pushing with Single-point and Multi-point Contacts. CASE 2019: 1429-1436 - [c203]Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin:
Bi-Objective Routing for Robotic Irrigation and Sampling in Vineyards. CASE 2019: 1481-1488 - [c202]Marius Wiggert, Leela Amladi, Ron Berenstein, Stefano Carpin, Joshua Viers, Stavros Vougioukas, Ken Goldberg:
RAPID-MOLT: A Meso-scale, Open-source, Low-cost Testbed for Robot Assisted Precision Irrigation and Delivery. CASE 2019: 1489-1496 - [c201]Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin:
Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores. CASE 2019: 1603-1610 - [c200]Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Felix Li, Arsh Zahed, Joseph E. Gonzalez, Ken Goldberg:
On-Policy Robot Imitation Learning from a Converging Supervisor. CoRL 2019: 24-41 - [c199]Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martín-Martín, Animesh Garg, Silvio Savarese, Ken Goldberg:
Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter. ICRA 2019: 1614-1621 - [c198]Nan Tian, Ajay Kumar Tanwani, Jinfa Chen, Mas Ma, Robert Zhang, Bill Huang, Ken Goldberg, Somayeh Sojoudi:
A Fog Robotic System for Dynamic Visual Servoing. ICRA 2019: 1982-1988 - [c197]Ajay Kumar Tanwani, Nitesh Mor, John Kubiatowicz, Joseph E. Gonzalez, Ken Goldberg:
A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering. ICRA 2019: 4559-4566 - [c196]Michael Danielczuk, Matthew Matl, Saurabh Gupta, Andrew Li, Andrew Lee, Jeffrey Mahler, Ken Goldberg:
Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data. ICRA 2019: 7283-7290 - [c195]Anastasiia Varava, Michael C. Welle, Jeffrey Mahler, Ken Goldberg, Danica Kragic, Florian T. Pokomy:
Partial Caging: A Clearance-Based Definition and Deep Learning. IROS 2019: 1533-1540 - [c194]Brijen Thananjeyan, Ajay Kumar Tanwani, Jessica J. Ji, Danyal Fer, Vatsal Patel, Sanjay Krishnan, Ken Goldberg:
Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities. ISMR 2019: 1-7 - [i35]Ching-An Cheng, Jonathan Lee, Ken Goldberg, Byron Boots:
Online Learning with Continuous Variations: Dynamic Regret and Reductions. CoRR abs/1902.07286 (2019) - [i34]Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martín-Martín, Animesh Garg, Silvio Savarese, Ken Goldberg:
Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter. CoRR abs/1903.01588 (2019) - [i33]Ajay Kumar Tanwani, Nitesh Mor, John Kubiatowicz, Joseph E. Gonzalez, Ken Goldberg:
A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering. CoRR abs/1903.09589 (2019) - [i32]Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg:
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations. CoRR abs/1905.13402 (2019) - [i31]Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Arsh Zahed, Felix Li, Joseph E. Gonzalez, Ken Goldberg:
On-Policy Robot Imitation Learning from a Converging Supervisor. CoRR abs/1907.03423 (2019) - [i30]Jingyi Xu, Michael Danielczuk, Jeffrey Ichnowski, Jeffrey Mahler, Eckehard G. Steinbach, Ken Goldberg:
Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects. CoRR abs/1909.11226 (2019) - [i29]Daniel Seita, Aditya Ganapathi, Ryan Hoque, Minho Hwang, Edward Cen, Ajay Kumar Tanwani, Ashwin Balakrishna, Brijen Thananjeyan, Jeffrey Ichnowski, Nawid Jamali, Katsu Yamane, Soshi Iba, John F. Canny, Ken Goldberg:
Deep Imitation Learning of Sequential Fabric Smoothing Policies. CoRR abs/1910.04854 (2019) - [i28]Jonathan Lee, Ching-An Cheng, Ken Goldberg, Byron Boots:
Continuous Online Learning and New Insights to Online Imitation Learning. CoRR abs/1912.01261 (2019) - [i27]Roy Fox, Richard Shin, William Paul, Yitian Zou, Dawn Song, Ken Goldberg, Pieter Abbeel, Ion Stoica:
Hierarchical Variational Imitation Learning of Control Programs. CoRR abs/1912.12612 (2019) - 2018
- [j74]Jeffrey Mahler, Florian T. Pokorny, Sherdil Niyaz, Ken Goldberg:
Synthesis of Energy-Bounded Planar Caging Grasps Using Persistent Homology. IEEE Trans Autom. Sci. Eng. 15(3): 908-918 (2018) - [j73]Jeffrey Mahler, Robert Platt Jr., Alberto Rodriguez, Matei T. Ciocarlie, Aaron M. Dollar, Renaud Detry, Máximo A. Roa, Holly A. Yanco, Adam Norton, Joe Falco, Karl Van Wyk, Elena Messina, Jürgen Leitner, Douglas Morrison, Matthew T. Mason, Oliver Brock, Lael Odhner, Andrey Kurenkov, Matthew Matl, Ken Goldberg:
Guest Editorial Open Discussion of Robot Grasping Benchmarks, Protocols, and Metrics. IEEE Trans Autom. Sci. Eng. 15(4): 1440-1442 (2018) - [c193]Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin:
Multi-Robot Routing Algorithms for Robots Operating in Vineyards. CASE 2018: 14-21 - [c192]Jessica J. Ji, Sanjay Krishnan, Vatsal Patel, Danyal Fer, Ken Goldberg:
Learning 2D Surgical Camera Motion From Demonstrations. CASE 2018: 35-42 - [c191]Jonathan Lee, Michael Laskey, Roy Fox, Ken Goldberg:
Constraint Estimation and Derivative-Free Recovery for Robot Learning from Demonstrations. CASE 2018: 270-277 - [c190]David Tseng, David Wai-Lok Wang, Carolyn Chen, Lauren Miller, William Song, Joshua Viers, Stavros Vougioukas, Stefano Carpin, Juan Aparicio Ojea, Ken Goldberg:
Towards Automating Precision Irrigation: Deep Learning to Infer Local Soil Moisture Conditions from Synthetic Aerial Agricultural Images. CASE 2018: 284-291 - [c189]Ron Berenstein, Averell Wallach, Pelagie Elimbi Moudio, Peter Cuellar, Ken Goldberg:
An Open-Access Passive Modular Tool Changing System for Mobile Manipulation Robots. CASE 2018: 592-598 - [c188]Hankun Zhao, Andrew Cui, Schuyler A. Cullen, Brian Paden, Michael Laskey, Ken Goldberg:
FLUIDS: A First-Order Lightweight Urban Intersection Driving Simulator. CASE 2018: 697-704 - [c187]Michael Danielczuk, Jeffrey Mahler, Christopher Correa, Ken Goldberg:
Linear Push Policies to Increase Grasp Access for Robot Bin Picking. CASE 2018: 1249-1256 - [c186]Xinhe Ren, David Wang, Michael Laskey, Ken Goldberg:
Learning Traffic Behaviors by Extracting Vehicle Trajectories from Online Video Streams. CASE 2018: 1276-1283 - [c185]Nan Tian, Benjamin Kuo, Xinhe Ren, Michael Yu, Robert Zhang, Bill Huang, Ken Goldberg, Somayeh Sojoudi:
A Cloud-Based Robust Semaphore Mirroring System for Social Robots. CASE 2018: 1351-1358 - [c184]Pusong Li, Bill DeRose, Jeffrey Mahler, Juan Aparicio Ojea, Ajay Kumar Tanwani, Ken Goldberg:
Dex-Net as a Service (DNaaS): A Cloud-Based Robust Robot Grasp Planning System. CASE 2018: 1420-1427 - [c183]Brandie Nonnecke, Shrestha Mohanty, Andrew Lee, Jonathan Lee, Sequoia Beckman, Justin Mi, Thanatcha Panpairoj, Jeffrey Rosario Ancheta, Hilary Martinez, Nathaniel Oco, Rachel Edita Roxas, Camille Crittenden, Ken Goldberg:
Malasakit 2.0: A Participatory Online Platform with Feature Phone Integration and Voice Recognition for Crowdsourcing Disaster Risk Reduction Strategies in the Philippines. GHTC 2018: 1-6 - [c182]Roy Fox, Richard Shin, Sanjay Krishnan, Ken Goldberg, Dawn Song, Ion Stoica:
Parametrized Hierarchical Procedures for Neural Programming. ICLR (Poster) 2018 - [c181]Eric Liang, Richard Liaw, Robert Nishihara, Philipp Moritz, Roy Fox, Ken Goldberg, Joseph Gonzalez, Michael I. Jordan, Ion Stoica:
RLlib: Abstractions for Distributed Reinforcement Learning. ICML 2018: 3059-3068 - [c180]Jeffrey Mahler, Matthew Matl, Xinyu Liu, Albert Li, David V. Gealy, Ken Goldberg:
Dex-Net 3.0: Computing Robust Vacuum Suction Grasp Targets in Point Clouds Using a New Analytic Model and Deep Learning. ICRA 2018: 1-8 - [c179]Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi Chen, Ken Goldberg, Pieter Abbeel:
Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation. ICRA 2018: 1-8 - [c178]Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin:
Routing Algorithms for Robot Assisted Precision Irrigation. ICRA 2018: 2221-2228 - [c177]Ron Berenstein, Roy Fox, Stephen McKinley, Stefano Carpin, Ken Goldberg:
Robustly Adjusting Indoor Drip Irrigation Emitters with the Toyota HSR Robot. ICRA 2018: 2236-2243 - [c176]Daniel Seita, Sanjay Krishnan, Roy Fox, Stephen McKinley, John F. Canny, Ken Goldberg:
Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure. ICRA 2018: 6651-6658 - [c175]Benjamin W. McInroe, Carolyn L. Chen, Kenneth Y. Goldberg, Ruzena Bajcsy, Ronald S. Fearing:
Towards a Soft Fingertip with Integrated Sensing and Actuation. IROS 2018: 6437-6444 - [c174]Vatsal Patel, Sanjay Krishnan, Aimee Goncalves, Carolyn Chen, Walter Doug Boyd, Ken Goldberg:
Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement. ISMR 2018: 1-6 - [c173]Vatsal Patel, Sanjay Krishnan, Aimee Goncalves, Ken Goldberg:
SPRK: A low-cost stewart platform for motion study in surgical robotics. ISMR 2018: 1-6 - [c172]Mo Zhou, Yonatan Mintz, Yoshimi Fukuoka, Ken Goldberg, Elena Flowers, Philip M. Kaminsky, Alejandro Castillejo, Anil Aswani:
Personalizing Mobile Fitness Apps using Reinforcement Learning. IUI Workshops 2018 - [c171]Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, Sylvain Calinon:
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models. WAFR 2018: 196-211 - [c170]Jonathan N. Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani, Ken Goldberg:
A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning. WAFR 2018: 212-227 - [i26]Jonathan Lee, Michael Laskey, Roy Fox, Ken Goldberg:
Derivative-Free Failure Avoidance Control for Manipulation using Learned Support Constraints. CoRR abs/1801.10321 (2018) - [i25]Sanjay Krishnan, Zongheng Yang, Ken Goldberg, Joseph M. Hellerstein, Ion Stoica:
Learning to Optimize Join Queries With Deep Reinforcement Learning. CoRR abs/1808.03196 (2018) - [i24]Michael Danielczuk, Matthew Matl, Saurabh Gupta, Andrew Li, Andrew Lee, Jeffrey Mahler, Ken Goldberg:
Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Point Clouds. CoRR abs/1809.05825 (2018) - [i23]Nan Tian, Jinfa Chen, Mas Ma, Robert Zhang, Bill Huang, Ken Goldberg, Somayeh Sojoudi:
A Fog Robotic System for Dynamic Visual Servoing. CoRR abs/1809.06716 (2018) - [i22]Daniel Seita, Nawid Jamali, Michael Laskey, Ron Berenstein, Ajay Kumar Tanwani, Prakash Baskaran, Soshi Iba, John F. Canny, Ken Goldberg:
Robot Bed-Making: Deep Transfer Learning Using Depth Sensing of Deformable Fabric. CoRR abs/1809.09810 (2018) - [i21]