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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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Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks

Dec 18, 2020
Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng

* See https://berkeleyautomation.github.io/bags/ for project website and code. v2 corrects some BibTeX entries 

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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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Robots of the Lost Arc: Learning to Dynamically Manipulate Fixed-Endpoint Ropes and Cables

Nov 10, 2020
Harry Zhang, Jeffrey Ichnowski, Daniel Seita, Jonathan Wang, Ken Goldberg


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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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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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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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ZPD Teaching Strategies for Deep Reinforcement Learning from Demonstrations

Oct 26, 2019
Daniel Seita, David Chan, Roshan Rao, Chen Tang, Mandi Zhao, John Canny

* Deep Reinforcement Learning Workshop at NeurIPS 2019 

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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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Risk Averse Robust Adversarial Reinforcement Learning

Mar 31, 2019
Xinlei Pan, Daniel Seita, Yang Gao, John Canny

* ICRA 2019 

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Robot Bed-Making: Deep Transfer Learning Using Depth Sensing of Deformable Fabric

Oct 10, 2018
Daniel Seita, Nawid Jamali, Michael Laskey, Ron Berenstein, Ajay Kumar Tanwani, Prakash Baskaran, Soshi Iba, John Canny, Ken Goldberg

* Under review. Expanded and revised version of arXiv:1711.02525 Project website at https://sites.google.com/view/bed-make 

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Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure

Feb 24, 2018
Daniel Seita, Sanjay Krishnan, Roy Fox, Stephen McKinley, John Canny, Ken Goldberg

* Code, data, and videos are available at https://sites.google.com/view/calib-icra/. Final version for ICRA 2018 

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An Efficient Minibatch Acceptance Test for Metropolis-Hastings

Jul 09, 2017
Daniel Seita, Xinlei Pan, Haoyu Chen, John Canny

* Final version for UAI 2017 

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Fast Parallel SAME Gibbs Sampling on General Discrete Bayesian Networks

Nov 19, 2015
Daniel Seita, Haoyu Chen, John Canny


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