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LazyDAgger: Reducing Context Switching in Interactive Imitation Learning


Mar 31, 2021
Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel S. Brown, Daniel Seita, Brijen Thananjeyan, Ellen Novoseller, Ken Goldberg


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VisuoSpatial Foresight for Physical Sequential Fabric Manipulation


Feb 19, 2021
Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg

* Work in progress. Journal extension of prior work on VSF. arXiv admin note: text overlap with arXiv:2003.09044 

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Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects


Nov 12, 2020
Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Shivin Devgon, Ken Goldberg

* Conference on Robot Learning (CoRL) 2020. First two authors contributed equally 

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Accelerating Grasp Exploration by Leveraging Learned Priors


Nov 11, 2020
Han Yu Li, Michael Danielczuk, Ashwin Balakrishna, Vishal Satish, Ken Goldberg

* Conference on Automation Science and Engineering (CASE) 2020. First three authors contributed equally 

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Untangling Dense Knots by Learning Task-Relevant Keypoints


Nov 10, 2020
Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg

* 4th Conference on Robot Learning (CoRL 2020) 
* Conference on Robot Learning (CoRL) 2020 Oral. First two authors contributed equally 

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Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones


Oct 29, 2020
Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg

* First two authors contributed equally 

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MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects


Oct 09, 2020
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Ryan Hoque, Joseph E. Gonzalez, Ken Goldberg

* IROS 2020 Workshop on Managing Deformation: A Step Towards Higher Robot Autonomy 

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Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images


Mar 28, 2020
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


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VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation


Mar 19, 2020
Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg


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Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data


Mar 03, 2020
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg

* 2020 International Conference on Robotics and Automation 

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ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions


Mar 03, 2020
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron Ames, Ken Goldberg

* First two authors contributed equally 

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Deep Imitation Learning of Sequential Fabric Smoothing Policies


Sep 23, 2019
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 Canny, Ken Goldberg

* Supplementary material is available at https://sites.google.com/view/fabric-smoothing 

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On-Policy Robot Imitation Learning from a Converging Supervisor


Jul 08, 2019
Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Arsh Zahed, Felix Li, Joseph E. Gonzalez, Ken Goldberg


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Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations


Jun 03, 2019
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg


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Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter


Mar 04, 2019
Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martín-Martín, Animesh Garg, Silvio Savarese, Ken Goldberg

* To appear in IEEE International Conference on Robotics and Automation (ICRA), 2019. 9 pages with 4 figures 

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Predicting Electric Vehicle Charging Station Usage: Using Machine Learning to Estimate Individual Station Statistics from Physical Configurations of Charging Station Networks


Apr 02, 2018
Anshul Ramachandran, Ashwin Balakrishna, Peter Kundzicz, Anirudh Neti

* 8 pages, 9 figures 

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