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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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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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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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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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