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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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Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking

Jul 20, 2020
Kate Sanders, Michael Danielczuk, Jeffrey Mahler, Ajay Tanwani, Ken Goldberg

* 2020 IEEE International Conference on Automation Science and Engineering (CASE) 

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Motion2Vec: Semi-Supervised Representation Learning from Surgical Videos

May 31, 2020
Ajay Kumar Tanwani, Pierre Sermanet, Andy Yan, Raghav Anand, Mariano Phielipp, Ken Goldberg

* IEEE International Conference on Robotics and Automation (ICRA), 2020 

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Industrial Robot Grasping with Deep Learning using a Programmable Logic Controller (PLC)

Apr 21, 2020
Eugen Solowjow, Ines Ugalde, Yash Shahapurkar, Juan Aparicio, Jeff Mahler, Vishal Satish, Ken Goldberg, Heiko Claussen


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X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions

Apr 20, 2020
Michael Danielczuk, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg

* 8 pages, 6 figures 

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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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GOMP: Grasp-Optimized Motion Planning for Bin Picking

Mar 05, 2020
Jeffrey Ichnowski, Michael Danielczuk, Jingyi Xu, Vishal Satish, Ken Goldberg

* ICRA 2020 

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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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Hierarchical Variational Imitation Learning of Control Programs

Dec 29, 2019
Roy Fox, Richard Shin, William Paul, Yitian Zou, Dawn Song, Ken Goldberg, Pieter Abbeel, Ion Stoica


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Continuous Online Learning and New Insights to Online Imitation Learning

Dec 03, 2019
Jonathan Lee, Ching-An Cheng, Ken Goldberg, Byron Boots


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Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects

Sep 24, 2019
Jingyi Xu, Michael Danielczuk, Jeff Ichnowski, Jeffrey Mahler, Eckehard Steinbach, Ken Goldberg


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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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