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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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Object Rearrangement Using Learned Implicit Collision Functions


Nov 21, 2020
Michael Danielczuk, Arsalan Mousavian, Clemens Eppner, Dieter Fox

* Michael Danielczuk and Arsalan Mousavian contributed equally 

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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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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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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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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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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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Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter


Mar 04, 2019
Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martín-Martín, Animesh Garg, Silvio Savarese, Ken Goldberg

* To appear in IEEE International Conference on Robotics and Automation (ICRA), 2019. 9 pages with 4 figures 

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Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data


Mar 03, 2019
Michael Danielczuk, Matthew Matl, Saurabh Gupta, Andrew Li, Andrew Lee, Jeffrey Mahler, Ken Goldberg

* In proceedings of ICRA 2019/ 

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Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Point Clouds


Sep 16, 2018
Michael Danielczuk, Matthew Matl, Saurabh Gupta, Andrew Li, Andrew Lee, Jeffrey Mahler, Ken Goldberg


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