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ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning


Sep 17, 2021
Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg

* CoRL 2021 Oral 

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FogROS: An Adaptive Framework for Automating Fog Robotics Deployment


Aug 25, 2021
Kaiyuan, Chen, Yafei Liang, Nikhil Jha, Jeffrey Ichnowski, Michael Danielczuk, Joseph Gonzalez, John Kubiatowicz, Ken Goldberg

* 2021 IEEE 17th International Conference on Automation Science and Engineering (CASE). 8 pages 

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Accelerating Quadratic Optimization with Reinforcement Learning


Jul 22, 2021
Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato, Goran Banjac, Michael Luo, Francesco Borrelli, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg

* 25 pages, 7 figures. Code available at https://github.com/berkeleyautomation/rlqp 

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Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities


Jul 13, 2021
Shivin Devgon, Jeffrey Ichnowski, Michael Danielczuk, Daniel S. Brown, Ashwin Balakrishna, Shirin Joshi, Eduardo M. C. Rocha, Eugen Solowjow, Ken Goldberg

* Conference on Automation Science and Engineering (CASE) 2021 

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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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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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Policy Gradient Bayesian Robust Optimization for Imitation Learning


Jun 21, 2021
Zaynah Javed, Daniel S. Brown, Satvik Sharma, Jerry Zhu, Ashwin Balakrishna, Marek Petrik, Anca D. Dragan, Ken Goldberg

* In proceedings of the International Conference on Machine Learning (ICML) 2021 

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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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Disentangling Dense Multi-Cable Knots


Jun 04, 2021
Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg

* First three authors contributed equally 

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Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms


May 29, 2021
Shivin Devgon, Jeffrey Ichnowski, Ashwin Balakrishna, Harry Zhang, Ken Goldberg

* Conference on Automation Science and Engineering (CASE) 2020 

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A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration


May 05, 2021
Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica Li, Ken Goldberg, Hannah S. Stuart


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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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VisuoSpatial Foresight for Physical Sequential Fabric Manipulation


Feb 19, 2021
Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg

* Work in progress. Journal extension of prior work on VSF. arXiv admin note: text overlap with arXiv:2003.09044 

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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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Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search


Dec 07, 2020
Andrey Kurenkov, Roberto Martín-Martín, Jeff Ichnowski, Ken Goldberg, Silvio Savarese


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Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop


Dec 07, 2020
Sebastian Höfer, Kostas Bekris, Ankur Handa, Juan Camilo Gamboa, Florian Golemo, Melissa Mozifian, Chris Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White

* Summary of the "2nd Workshop on Closing the Reality Gap in Sim2Real Transfer for Robotics" held in conjunction with "Robotics: Science and System 2020". Website: https://sim2real.github.io/ 

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Mechanical Search on Shelves using Lateral Access X-RAY


Nov 23, 2020
Huang Huang, Marcus Dominguez-Kuhne, Jeffrey Ichnowski, Vishal Satish, Michael Danielczuk, Kate Sanders, Andrew Lee, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg

* Huang Huang and Marcus Dominguez-Kuhne contributed equally 

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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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Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects


Nov 12, 2020
Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Shivin Devgon, Ken Goldberg

* Conference on Robot Learning (CoRL) 2020. First two authors contributed equally 

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Accelerating Grasp Exploration by Leveraging Learned Priors


Nov 11, 2020
Han Yu Li, Michael Danielczuk, Ashwin Balakrishna, Vishal Satish, Ken Goldberg

* Conference on Automation Science and Engineering (CASE) 2020. First three authors contributed equally 

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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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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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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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Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores


Sep 20, 2020
Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin

* Presented at the 2019 IEEE 15th International Conference on Automation Science and Engineering (CASE) 

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