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Automating Vascular Shunt Insertion with the dVRK Surgical Robot


Nov 04, 2022
Karthik Dharmarajan, Will Panitch, Muyan Jiang, Kishore Srinivas, Baiyu Shi, Yahav Avigal, Huang Huang, Thomas Low, Danyal Fer, Ken Goldberg

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AutoBag: Learning to Open Plastic Bags and Insert Objects


Oct 31, 2022
Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg

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Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations


Oct 14, 2022
Albert Wilcox, Ashwin Balakrishna, Jules Dedieu, Wyame Benslimane, Daniel Brown, Ken Goldberg

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* To be published in the 36th Conference on Neural Information Processing Systems (NeurIPS 2022). 19 pages. 11 figures 

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Learning to Efficiently Plan Robust Frictional Multi-Object Grasps


Oct 13, 2022
Wisdom C. Agboh, Satvik Sharma, Kishore Srinivas, Mallika Parulekar, Gaurav Datta, Tianshuang Qiu, Jeffrey Ichnowski, Eugen Solowjow, Mehmet Dogar, Ken Goldberg

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Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion


Oct 04, 2022
Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, Sachin Chitta

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SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception


Sep 27, 2022
Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg

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Learning Self-Supervised Representations from Vision and Touch for Active Sliding Perception of Deformable Surfaces


Sep 26, 2022
Justin Kerr, Huang Huang, Albert Wilcox, Ryan Hoque, Jeffrey Ichnowski, Roberto Calandra, Ken Goldberg

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SpeedFolding: Learning Efficient Bimanual Folding of Garments


Aug 22, 2022
Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Kröger, Ken Goldberg

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* IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022 

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Automated Pruning of Polyculture Plants


Aug 22, 2022
Mark Presten, Rishi Parikh, Shrey Aeron, Sandeep Mukherjee, Simeon Adebola, Satvik Sharma, Mark Theis, Walter Teitelbaum, Ken Goldberg

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* CASE 2022, 8 pages. arXiv admin note: substantial text overlap with arXiv:2111.06014 

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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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