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Ken Goldberg
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- affiliation: University of California, Berkeley, USA
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2020 – today
- 2023
[j102]Frank C. Park
, Nukula Viswanadham, Ken Goldberg, Michael Yu Wang, Yu Sun, MengChu Zhou, Bengt Lennartson, Fan-Tien Cheng:
Peter Luh, the Father of Automation [In Memoriam]. IEEE Robotics Autom. Mag. 30(1): 112-113 (2023)- [j101]Frank C. Park, Nukula Viswanadham, Ken Goldberg, Michael Yu Wang, Yu Sun, MengChu Zhou, Bengt Lennartson, Fan-Tien Cheng:
In Memoriam. IEEE Trans Autom. Sci. Eng. 20(2): 739-740 (2023) - [j100]Minho Hwang, Jeffrey Ichnowski, Brijen Thananjeyan, Daniel Seita, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg:
Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans. IEEE Trans Autom. Sci. Eng. 20(2): 909-922 (2023) - [c295]Shrey Aeron, Edith LLontop, Aviv Adler, Wisdom C. Agboh, Mehmet Remzi Dogar, Ken Goldberg:
Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping. CASE 2023: 1-6 - [c294]Varun Kamat, Shrey Aeron, Anrui Gu, Harshika Jalan, Simeon Adebola, Ken Goldberg:
PolyPoD: An Algorithm for Polyculture Seed Placement. CASE 2023: 1-6 - [c293]Varun Kamat, Viraj Ramakrishnan, Yashish Mohnot, Harshika Jalan, Julia Isaac, Vincent Schorp, Yahav Avigal, Aviv Adler, Danyal M. Fer, Ken Goldberg:
Automating 2D Suture Placement. CASE 2023: 1-8 - [c292]Vincent Schorp, Will Panitch, Kaushik Shivakumar, Vainavi Viswanath, Justin Kerr, Yahav Avigal, Danyal M. Fer, Lionel Ott, Ken Goldberg:
Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening. CASE 2023: 1-6 - [c291]Kishore Srinivas, Shreya Ganti, Rishi Parikh, Ayah Ahmad, Wisdom C. Agboh, Mehmet Remzi Dogar, Ken Goldberg:
The Busboy Problem: Efficient Tableware Decluttering Using Consolidation and Multi-Object Grasps. CASE 2023: 1-6 - [c290]Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg:
AutoBag: Learning to Open Plastic Bags and Insert Objects. ICRA 2023: 3918-3925 - [c289]Jeffrey Ichnowski, Kaiyuan Chen, Karthik Dharmarajan, Simeon Adebola, Michael Danielczuk, Victor Mayoral Vilches, Nikhil Jha, Hugo Zhan, Edith LLontop, Derek Xu, Camilo Buscaron, John Kubiatowicz, Ion Stoica, Joseph Gonzalez, Ken Goldberg:
FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2. ICRA 2023: 5493-5500 - [c288]Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg:
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception. ICRA 2023: 5837-5843 - [c287]Karthik Dharmarajan, Will Panitch, Muyan Jiang, Kishore Srinivas, Baiyu Shi, Yahav Avigal, Huang Huang, Thomas Low, Danyal Fer, Ken Goldberg:
Automating Vascular Shunt Insertion with the dVRK Surgical Robot. ICRA 2023: 6781-6788 - [c286]Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, Sachin Chitta:
Safe Self-Supervised Learning in Real of Visuo-Tactile Feedback Policies for Industrial Insertion. ICRA 2023: 10380-10386 - [c285]Simeon Adebola, Rishi Parikh, Mark Presten, Satvik Sharma, Shrey Aeron, Ananth Rao, Sandeep Mukherjee, Tomson Qu, Christina Wistrom, Eugen Solowjow, Ken Goldberg:
Can Machines Garden? Systematically Comparing the AlphaGarden vs. Professional Horticulturalists. ICRA 2023: 11779-11785 - [c284]Karthik Dharmarajan, Will Panitch, Baiyu Shi, Huang Huang, Lawrence Yunliang Chen, Thomas Low, Danyal Fer, Ken Goldberg:
A Trimodal Framework for Robot-Assisted Vascular Shunt Insertion When a Supervising Surgeon is Local, Remote, or Unavailable. ISMR 2023: 1-8 - [c283]Justin Kerr, Huang Huang, Albert Wilcox, Ryan Hoque, Jeffrey Ichnowski, Roberto Calandra, Ken Goldberg:
Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features. Robotics: Science and Systems 2023 - [i124]Satvik Sharma, Kaushik Shivakumar, Huang Huang, Ryan Hoque, Alishba Imran, Brian Ichter, Ken Goldberg:
From Occlusion to Insight: Object Search in Semantic Shelves using Large Language Models. CoRR abs/2302.12915 (2023) - [i123]Vainavi Viswanath, Kaushik Shivakumar, Jainil Ajmera, Mallika Parulekar, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg:
Learning to Trace and Untangle Semi-planar Knots (TUSK). CoRR abs/2303.08975 (2023) - [i122]Justin Kerr, Chung Min Kim, Ken Goldberg, Angjoo Kanazawa, Matthew Tancik:
LERF: Language Embedded Radiance Fields. CoRR abs/2303.09553 (2023) - [i121]Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg:
Bagging by Learning to Singulate Layers Using Interactive Perception. CoRR abs/2303.16898 (2023) - [i120]Huang Huang, Antonio Loquercio, Ashish Kumar, Neerja Thakkar, Ken Goldberg, Jitendra Malik:
More Than an Arm: Using a Manipulator as a Tail for Enhanced Stability in Legged Locomotion. CoRR abs/2305.01648 (2023) - [i119]Alejandro Escontrela, Ademi Adeniji, Wilson Yan, Ajay Jain, Xue Bin Peng, Ken Goldberg, Youngwoon Lee, Danijar Hafner, Pieter Abbeel:
Video Prediction Models as Rewards for Reinforcement Learning. CoRR abs/2305.14343 (2023) - [i118]Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik:
Robot Learning with Sensorimotor Pre-training. CoRR abs/2306.10007 (2023) - [i117]Shrey Aeron, Edith LLontop, Aviv Adler, Wisdom C. Agboh, Mehmet Remzi Dogar, Ken Goldberg:
Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping. CoRR abs/2306.14021 (2023) - [i116]Gaurav Datta, Ryan Hoque, Anrui Gu, Eugen Solowjow, Ken Goldberg:
IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors. CoRR abs/2306.15228 (2023) - [i115]Kaiyuan Chen, Ryan Hoque, Karthik Dharmarajan, Edith LLontop, Simeon Adebola, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg:
FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity. CoRR abs/2306.17157 (2023) - [i114]Simeon Adebola, Rishi Parikh, Mark Presten, Satvik Sharma, Shrey Aeron, Ananth Rao, Sandeep Mukherjee, Tomson Qu, Christina Wistrom, Eugen Solowjow, Ken Goldberg:
Can Machines Garden? Systematically Comparing the AlphaGarden vs. Professional Horticulturalists. CoRR abs/2306.17162 (2023) - [i113]Kishore Srinivas, Shreya Ganti, Rishi Parikh, Ayah Ahmad, Wisdom C. Agboh, Mehmet Remzi Dogar, Ken Goldberg:
The Busboy Problem: Efficient Tableware Decluttering Using Consolidation and Multi-Object Grasps. CoRR abs/2307.03882 (2023) - [i112]Vincent Schorp, Will Panitch, Kaushik Shivakumar, Vainavi Viswanath, Justin Kerr, Yahav Avigal, Danyal M. Fer, Lionel Ott, Ken Goldberg:
Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening. CoRR abs/2307.06845 (2023) - [i111]Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Chen, Angjoo Kanazawa, Ken Goldberg:
Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping. CoRR abs/2309.07970 (2023) - [i110]Aviv Adler, Ayah Ahmad, Shengyin Wang, Wisdom C. Agboh, Edith LLontop, Tianshuang Qiu, Jeffrey Ichnowski, Mehmet Remzi Dogar, Thomas Kollar, Richard Cheng, Ken Goldberg:
The Teenager's Problem: Efficient Garment Decluttering With Grasp Optimization. CoRR abs/2310.16951 (2023) - [i109]Huang Huang, Satvik Sharma, Antonio Loquercio, Anastasios Angelopoulos, Ken Goldberg, Jitendra Malik:
Conformal Policy Learning for Sensorimotor Control Under Distribution Shifts. CoRR abs/2311.01457 (2023) - [i108]Kaiyuan Chen, Kush Hari, Rohil Khare, Charlotte Le, Trinity Chung, Jaimyn Drake, Karthik Dharmarajan, Simeon Adebola, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg:
FogROS2-Sky: Optimizing Latency and Cost for Multi-Cloud Robot Applications. CoRR abs/2311.05600 (2023) - 2022
- [j99]Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg:
VisuoSpatial Foresight for physical sequential fabric manipulation. Auton. Robots 46(1): 175-199 (2022) - [j98]Paolo Fiorini, Kenneth Y. Goldberg, Yunhui Liu, Russell H. Taylor:
Concepts and Trends in Autonomy for Robot-Assisted Surgery. Proc. IEEE 110(7): 993-1011 (2022) - [j97]Bradley J. Nelson, Pierre E. Dupont, Dario Floreano, Ken Goldberg, Hongri Gu, Neil Jacobstein, Cecilia Laschi, Hod Lipson:
What we look for at Science Robotics. Sci. Robotics 7(71) (2022) - [j96]Yahav Avigal, William Wong, Mark Presten, Mark Theis, Shrey Aeron, Anna Deza, Satvik Sharma, Rishi Parikh, Sebastian Oehme, Stefano Carpin, Joshua H. Viers, Stavros Vougioukas, Ken Goldberg:
Simulating Polyculture Farming to Learn Automation Policies for Plant Diversity and Precision Irrigation. IEEE Trans Autom. Sci. Eng. 19(3): 1352-1364 (2022) - [c282]Mark Presten, Rishi Parikh, Shrey Aeron, Sandeep Mukherjee, Simeon Adebola, Satvik Sharma, Mark Theis, Walter Teitelbaum, Ken Goldberg:
Automated Pruning of Polyculture Plants. CASE 2022: 242-249 - [c281]Lawrence Yunliang Chen, Huang Huang, Michael Danielczuk, Jeffrey Ichnowski, Ken Goldberg:
Optimal Shelf Arrangement to Minimize Robot Retrieval Time. CASE 2022: 993-1000 - [c280]Satvik Sharma, Ellen R. Novoseller, Vainavi Viswanath, Zaynah Javed, Rishi Parikh, Ryan Hoque, Ashwin Balakrishna, Daniel S. Brown, Ken Goldberg:
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies. CASE 2022: 1116-1123 - [c279]Sophea Bonne, Will Panitch, Karthik Dharmarajan, Kishore Srinivas, Jerri-Lynn Kincade, Thomas Low, Bruce Knoth, Cregg Cowan, Danyal Fer, Brijen Thananjeyan, Justin Kerr, Jeffrey Ichnowski, Ken Goldberg:
A Digital Twin Framework for Telesurgery in the Presence of Varying Network Quality of Service. CASE 2022: 1325-1332 - [c278]Justin Kerr, Letian Fu, Huang Huang, Yahav Avigal, Matthew Tancik, Jeffrey Ichnowski, Angjoo Kanazawa, Ken Goldberg:
Evo-NeRF: Evolving NeRF for Sequential Robot Grasping of Transparent Objects. CoRL 2022: 353-367 - [c277]Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg:
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision. CoRL 2022: 368-380 - [c276]Philipp Wu, Alejandro Escontrela, Danijar Hafner, Pieter Abbeel, Ken Goldberg:
DayDreamer: World Models for Physical Robot Learning. CoRL 2022: 2226-2240 - [c275]Aditya Ganapathi, Pete Florence, Jake Varley, Kaylee Burns, Ken Goldberg, Andy Zeng:
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning. ICRA 2022: 2656-2662 - [c274]Jeffrey Ichnowski, Yahav Avigal, Yi Liu, Ken Goldberg:
GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport. ICRA 2022: 5255-5261 - [c273]Huang Huang, Michael Danielczuk, Chung Min Kim, Letian Fu, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, Ken Goldberg:
Mechanical Search on Shelves using a Novel "Bluction" Tool. ICRA 2022: 6158-6164 - [c272]Chung Min Kim, Michael Danielczuk, Isabella Huang, Ken Goldberg:
IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model. ICRA 2022: 6180-6187 - [c271]Letian Fu, Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Jeffrey Ichnowski, Eugen Solowjow, Ken Goldberg:
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping. ICRA 2022: 8259-8265 - [c270]Vincent Lim, Huang Huang, Lawrence Yunliang Chen, Jonathan Wang, Jeffrey Ichnowski, Daniel Seita, Michael Laskey, Ken Goldberg:
Real2Sim2Real: Self-Supervised Learning of Physical Single-Step Dynamic Actions for Planar Robot Casting. ICRA 2022: 8282-8289 - [c269]Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg:
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles. ICRA 2022: 9637-9643 - [c268]Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Kröger, Ken Goldberg:
SpeedFolding: Learning Efficient Bimanual Folding of Garments. IROS 2022: 1-8 - [c267]Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, Pieter Abbeel:
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions. IROS 2022: 25-32 - [c266]Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong, Johnny Lee, Andy Zeng, Vincent Vanhoucke, Ken Goldberg:
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research. IROS 2022: 251-257 - [c265]Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg:
All You Need is LUV: Unsupervised Collection of Labeled Images Using UV-Fluorescent Markings. IROS 2022: 3241-3248 - [c264]Lawrence Yunliang Chen, Huang Huang, Ellen R. Novoseller, Daniel Seita, Jeffrey Ichnowski, Michael Laskey, Richard Cheng, Thomas Kollar, Ken Goldberg:
Efficiently Learning Single-Arm Fling Motions to Smooth Garments. ISRR 2022: 36-51 - [c263]Huang Huang, Letian Fu, Michael Danielczuk, Chung Min Kim, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, Ken Goldberg:
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects. ISRR 2022: 205-221 - [c262]Wisdom C. Agboh, Jeffrey Ichnowski, Ken Goldberg, Mehmet Remzi Dogar:
Multi-object Grasping in the Plane. ISRR 2022: 222-238 - [c261]Albert Wilcox, Ashwin Balakrishna, Jules Dedieu, Wyame Benslimane, Daniel S. Brown, Ken Goldberg:
Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations. NeurIPS 2022 - [c260]Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen R. Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Autonomously Untangling Long Cables. Robotics: Science and Systems 2022 - [c259]Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao, Ken Goldberg:
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport. WAFR 2022: 488-505 - [i107]Huang Huang, Michael Danielczuk, Chung Min Kim, Letian Fu, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, Ken Goldberg:
Mechanical Search on Shelves using a Novel "Bluction" Tool. CoRR abs/2201.08968 (2022) - [i106]Aditya Ganapathi, Pete Florence, Jake Varley, Kaylee Burns, Ken Goldberg, Andy Zeng:
Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning. CoRR abs/2203.01983 (2022) - [i105]Vincent Lim, Ellen R. Novoseller, Jeffrey Ichnowski, Huang Huang, Ken Goldberg:
Policy-Based Bayesian Experimental Design for Non-Differentiable Implicit Models. CoRR abs/2203.04272 (2022) - [i104]Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg:
All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators. CoRR abs/2203.04566 (2022) - [i103]Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao, Ken Goldberg:
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport. CoRR abs/2203.08359 (2022) - [i102]Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, Pieter Abbeel:
Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions. CoRR abs/2203.15103 (2022) - [i101]Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong, Johnny Lee, Andy Zeng, Vincent Vanhoucke, Ken Goldberg:
Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research. CoRR abs/2204.10297 (2022) - [i100]Sarah E. Chasins, Alvin Cheung, Natacha Crooks, Ali Ghodsi, Ken Goldberg, Joseph E. Gonzalez, Joseph M. Hellerstein, Michael I. Jordan, Anthony D. Joseph, Michael W. Mahoney, Aditya G. Parameswaran, David A. Patterson, Raluca Ada Popa, Koushik Sen, Scott Shenker, Dawn Song, Ion Stoica:
The Sky Above The Clouds. CoRR abs/2205.07147 (2022) - [i99]Jeffrey Ichnowski, Kaiyuan Chen, Karthik Dharmarajan, Simeon Adebola, Michael Danielczuk, Victor Mayoral Vilches, Hugo Zhan, Derek Xu, Ramtin Ghassemi, John Kubiatowicz, Ion Stoica, Joseph Gonzales, Ken Goldberg:
FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2. CoRR abs/2205.09778 (2022) - [i98]Wisdom C. Agboh, Jeffrey Ichnowski, Ken Goldberg, Mehmet Remzi Dogar:
Multi-Object Grasping in the Plane. CoRR abs/2206.00229 (2022) - [i97]Lawrence Yunliang Chen, Huang Huang, Michael Danielczuk, Jeffrey Ichnowski, Ken Goldberg:
Optimal Shelf Arrangement to Minimize Robot Retrieval Time. CoRR abs/2206.08607 (2022) - [i96]Lawrence Yunliang Chen, Huang Huang, Ellen R. Novoseller, Daniel Seita, Jeffrey Ichnowski, Michael Laskey, Richard Cheng, Thomas Kollar, Ken Goldberg:
Efficiently Learning Single-Arm Fling Motions to Smooth Garments. CoRR abs/2206.08921 (2022) - [i95]Philipp Wu, Alejandro Escontrela, Danijar Hafner, Ken Goldberg, Pieter Abbeel:
DayDreamer: World Models for Physical Robot Learning. CoRR abs/2206.14176 (2022) - [i94]Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg:
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision. CoRR abs/2206.14349 (2022) - [i93]Satvik Sharma, Ellen R. Novoseller, Vainavi Viswanath, Zaynah Javed, Rishi Parikh, Ryan Hoque, Ashwin Balakrishna, Daniel S. Brown, Ken Goldberg:
Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies. CoRR abs/2207.00911 (2022) - [i92]Huang Huang, Letian Fu, Michael Danielczuk, Chung Min Kim, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, Ken Goldberg:
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects. CoRR abs/2207.02347 (2022) - [i91]Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen R. Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Autonomously Untangling Long Cables. CoRR abs/2207.07813 (2022) - [i90]Mark Presten, Rishi Parikh, Shrey Aeron, Sandeep Mukherjee, Simeon Adebola, Satvik Sharma, Mark Theis, Walter Teitelbaum, Ken Goldberg:
Automated Pruning of Polyculture Plants. CoRR abs/2208.10472 (2022) - [i89]Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Kröger, Ken Goldberg:
SpeedFolding: Learning Efficient Bimanual Folding of Garments. CoRR abs/2208.10552 (2022) - [i88]Justin Kerr, Huang Huang, Albert Wilcox, Ryan Hoque, Jeffrey Ichnowski, Roberto Calandra, Ken Goldberg:
Learning Self-Supervised Representations from Vision and Touch for Active Sliding Perception of Deformable Surfaces. CoRR abs/2209.13042 (2022) - [i87]Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg:
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception. CoRR abs/2209.13706 (2022) - [i86]Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, Sachin Chitta:
Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion. CoRR abs/2210.01340 (2022) - [i85]Wisdom C. Agboh, Satvik Sharma, Kishore Srinivas, Mallika Parulekar, Gaurav Datta, Tianshuang Qiu, Jeffrey Ichnowski, Eugen Solowjow, Mehmet Remzi Dogar, Ken Goldberg:
Learning to Efficiently Plan Robust Frictional Multi-Object Grasps. CoRR abs/2210.07420 (2022) - [i84]Albert Wilcox, Ashwin Balakrishna, Jules Dedieu, Wyame Benslimane, Daniel S. Brown, Ken Goldberg:
Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations. CoRR abs/2210.07432 (2022) - [i83]Kaiyuan Chen, Jiachen Yuan, Nikhil Jha, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg:
FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with Global Addressability. CoRR abs/2210.11691 (2022) - [i82]Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg:
AutoBag: Learning to Open Plastic Bags and Insert Objects. CoRR abs/2210.17217 (2022) - [i81]Karthik Dharmarajan, Will Panitch, Muyan Jiang, Kishore Srinivas, Baiyu Shi, Yahav Avigal, Huang Huang, Thomas Low, Danyal Fer, Ken Goldberg:
Automating Vascular Shunt Insertion with the dVRK Surgical Robot. CoRR abs/2211.02293 (2022) - 2021
- [j95]Michael C. Welle, Anastasiia Varava, Jeffrey Mahler, Ken Goldberg, Danica Kragic, Florian T. Pokorny:
Partial caging: a clearance-based definition, datasets, and deep learning. Auton. Robots 45(5): 647-664 (2021) - [j94]Henrik I. Christensen, Nancy M. Amato, Holly A. Yanco, Maja J. Mataric, Howie Choset, Ann W. Drobnis, Ken Goldberg, Jessy W. Grizzle, Gregory D. Hager, John M. Hollerbach, Seth Hutchinson, Venkat Krovi, Daniel Lee, William D. Smart, Jeff Trinkle, Gaurav S. Sukhatme:
A Roadmap for US Robotics - From Internet to Robotics 2020 Edition. Found. Trends Robotics 8(4): 307-424 (2021) - [j93]Jonathan N. Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani, Ken Goldberg:
Dynamic regret convergence analysis and an adaptive regularization algorithm for on-policy robot imitation learning. Int. J. Robotics Res. 40(10-11) (2021) - [j92]Ajay Kumar Tanwani, Andy Yan, Jonathan Lee, Sylvain Calinon, Ken Goldberg:
Sequential robot imitation learning from observations. Int. J. Robotics Res. 40(10-11) (2021) - [j91]Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg:
Recovery RL: Safe Reinforcement Learning With Learned Recovery Zones. IEEE Robotics Autom. Lett. 6(3): 4915-4922 (2021) - [j90]Ken Goldberg:
Getting a grip on reality. Sci. Robotics 6(54): 9225 (2021) - [j89]Guang-Zhong Yang, Steven H. Collins, Paolo Dario, Peer Fischer, Ken Goldberg, Cecilia Laschi, Marcia McNutt:
Five years of Science Robotics. Sci. Robotics 6(61) (2021) - [j88]Sebastian Höfer, Kostas E. Bekris, Ankur Handa, Juan Camilo Gamboa, Melissa Mozifian, Florian Golemo, Christopher G. Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White:
Sim2Real in Robotics and Automation: Applications and Challenges. IEEE Trans Autom. Sci. Eng. 18(2): 398-400 (2021) - [c258]Simeon Adebola, Ken Goldberg:
Assisting Polyculture Farming in Africa. AFRICON 2021: 1-2 - [c257]Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel S. Brown, Daniel Seita, Brijen Thananjeyan, Ellen R. Novoseller, Ken Goldberg:
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning. CASE 2021: 502-509 - [c256]Shivin Devgon, Jeffrey Ichnowski, Michael Danielczuk, Daniel S. Brown, Ashwin Balakrishna, Shirin Joshi, Eduardo M. C. Rocha, Eugen Solowjow, Ken Goldberg:
Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities. CASE 2021: 1124-1131 - [c255]Yahav Avigal, Vishal Satish, Zachary Tam, Huang Huang, Harry Zhang, Michael Danielczuk, Jeffrey Ichnowski, Ken Goldberg:
AVPLUG: Approach Vector PLanning for Unicontact Grasping amid Clutter. CASE 2021: 1140-1147 - [c254]Kaiyuan Chen, Yafei Liang, Nikhil Jha, Jeffrey Ichnowski, Michael Danielczuk, Joseph Gonzalez, John Kubiatowicz, Ken Goldberg:
FogROS: An Adaptive Framework for Automating Fog Robotics Deployment. CASE 2021: 2035-2042 - [c253]Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg:
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects. CoRL 2021: 526-536 - [c252]Ryan Hoque,