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Autonomously Untangling Long Cables


Jul 16, 2022
Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg


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Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision


Jun 29, 2022
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg


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All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators


Mar 13, 2022
Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg


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Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles


Dec 08, 2021
Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg

* 8 pages, 7 figures. First two authors contributed equally 

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MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance


Dec 07, 2021
Michael Luo, Ashwin Balakrishna, Brijen Thananjeyan, Suraj Nair, Julian Ibarz, Jie Tan, Chelsea Finn, Ion Stoica, Ken Goldberg

* Workshop on Safe and Robust Control of Uncertain Systems at the 35th Conference on Neural Information Processing Systems (NeurIPS 2021), Online 

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LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Iterative Tasks


Jul 10, 2021
Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg

* Preprint, Under Review. First two authors contributed equally 

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SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo


Jun 30, 2021
Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland

* 19 pages, 13 figures 

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Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies


Jun 29, 2021
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg


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PAC Best Arm Identification Under a Deadline


Jun 08, 2021
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez

* In submission 

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