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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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