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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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Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks


Dec 24, 2020
Minho Hwang, Brijen Thananjeyan, Daniel Seita, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg


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Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation


Nov 12, 2020
Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg

* 6 pages, 5 figures, 4 tables, submitted to ICRA 2021, supplementary material at https://tinyurl.com/ivs-icra 

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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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Resource Allocation in Multi-armed Bandit Exploration: Overcoming Nonlinear Scaling with Adaptive Parallelism


Oct 31, 2020
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez

* Preprint. Under review 

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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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Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation


Mar 19, 2020
Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg

* 9 pages, 11 figures, 2 tables 

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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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Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot


Feb 15, 2020
Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg

* Camera-ready version for the International Symposium on Medical Robotics (ISMR) 2020 

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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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Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models


Nov 19, 2018
Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, Sylvain Calinon

* accepted in WAFR 2018 

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