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Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies


Jul 02, 2022
Satvik Sharma, Ellen Novoseller, Vainavi Viswanath, Zaynah Javed, Rishi Parikh, Ryan Hoque, Ashwin Balakrishna, Daniel S. Brown, Ken Goldberg

* CASE 2022. The first two authors contributed equally. 9 pages; 5 figures; 1 table 

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Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision


Jun 29, 2022
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg


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Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research


Apr 21, 2022
Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong, Johnny Lee, Andy Zeng, Vincent Vanhoucke, Ken Goldberg


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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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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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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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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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