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Kenneth Y. Goldberg
Ken Goldberg
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- affiliation: University of California, Berkeley, USA
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2020 – today
- 2026
[j111]Hesheng Wang
, Michael Yu Wang
, Frank C. Park
, Lijun Han, Huichan Zhao
, Xingxing Wang, Andra Keay
, Shigeki Sugano
, Yi Guo
, Tamim Asfour
, Yu Sun
, Ken Goldberg
:
"Humanoids will soon replace most human workers": A debate. Sci. Robotics 11(114) (2026)
[i181]Zirui Wang, Junyi Zhang, Jiaxin Ge, Long Lian, Letian Fu, Lisa Dunlap, Ken Goldberg, Xudong Wang, Ion Stoica, David M. Chan, Sewon Min, Joseph E. Gonzalez:
VisGym: Diverse, Customizable, Scalable Environments for Multimodal Agents. CoRR abs/2601.16973 (2026)
[i180]Yiting Chen, Kenneth Kimble, Edward H. Adelson, Tamim Asfour, Podshara Chanrungmaneekul, Sachin Chitta, Yash Chitambar, Ziyang Cheng, Ken Goldberg, Danica Kragic, Hui Li, Xiang Li, Yunzhu Li, Aaron Prather, Nancy S. Pollard, Máximo Alejandro Roa-Garzón, Robert Seney, Shuo Sha, Shihefeng Wang, Yu Xiang, Kaifeng Zhang, Yuke Zhu, Kaiyu Hang:
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning. CoRR abs/2603.04363 (2026)
[i179]Max Fu, Justin Yu, Karim El-Refai, Ethan Kou, Haoru Xue, Huang Huang, Wenli Xiao, Guanzhi Wang, Feifei Li, Guanya Shi, Jiajun Wu, Shankar S. Sastry, Yuke Zhu, Ken Goldberg, Linxi "Jim" Fan:
CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation. CoRR abs/2603.22435 (2026)
[i178]Yingke Wang, Hao Li, Yifeng Zhu, Hong-Xing Yu, Ken Goldberg, Li Fei-Fei, Jiajun Wu, Yunzhu Li, Ruohan Zhang:
IMPASTO: Integrating Model-Based Planning with Learned Dynamics Models for Robotic Oil Painting Reproduction. CoRR abs/2603.29315 (2026)
[i177]Nigel Nelson, Juo-Tung Chen, Jesse Haworth, Xinhao Chen, Lukas Zbinden, Dianye Huang, Alaa Eldin Abdelaal, Alberto Arezzo, Ayberk Acar, Farshid Alambeigi, Carlo Alberto Ammirati, Yunke Ao, Pablo David Aranda Rodriguez, Soofiyan Atar, Mattia Ballo
, Noah Barnes, Federica Barontini, Filip Binkiewicz, Peter Black, Sebastian Bodenstedt, Leonardo Borgioli, Nikola Budjak, Benjamin Calmé, Fabio Carrillo, Nicola Cavalcanti, Changwei Chen, Haoxin Chen, Sihang Chen, Qihan Chen, Zhongyu Chen, Ziyang Chen, Shing Shin Cheng, Meiqing Cheng, Min Cheng, Zih-Yun Sarah Chiu, Xiangyu Chu, Camilo Correa-Gallego, Giulio Dagnino, Anton Deguet, Jacob Delgado, Jonathan C. DeLong, Kaizhong Deng, Alexander Dimitrakakis, Qingpeng Ding, Hao Ding, Giovanni Distefano
, Daniel A. Donoho, Anqing Duan, Marco Esposito, Shane Farritor, Jad Fayad, Zahi Fayad, Mario Ferradosa, Filippo Filicori, Chelsea Finn, Philipp Fürnstahl, Jiawei Ge, Stamatia Giannarou, Xavier Giralt Ludevid, Frédéric H. Giraud, Aditya Amit Godbole, Ken Goldberg, Antony Goldenberg, Diego Granero Marana, Xiaoqing Guo, Tamás Haidegger, Evan Hailey, Pascal Hansen, Ziyi Hao, Kush Hari, Kengo Hayashi, Jonathon Hawkins, Shelby Haworth, Ortrun Hellig, S. Duke Herrell, Zhouyang Hong, Andrew Howe, Junlei Hu, Zhaoyang Jacopo Hu, Ria Jain, Mohammad Rafiee Javazm, Howard Ji, Rui Ji, Jianmin Ji, Zhongliang Jiang, Dominic Jones, Jeffrey K. Jopling, Britton Jordan, Ran Ju, Michael Kam, Luoyao Kang, Fausto Kang, Siddhartha Kapuria, Peter Kazanzides, Sonika Kiehler, Ethan Kilmer, Ji Woong Kim, Przemyslaw Korzeniowski, et al.:
Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics. CoRR abs/2604.21017 (2026)
[i176]Andrew Goldberg, Ethan Ransing, Anton Kourakin, Cael Magner
, Edward H. Adelson, Ken Goldberg:
2D and 3D Grasp Planners for the GET Asymmetrical Gripper. CoRR abs/2604.26212 (2026)
[i175]Sandeep Bajamahal, Lawrence Yunliang Chen, Toru Lin, Zehan Ma, Jitendra Malik, Ken Goldberg:
MonoDuo: Using One Robot Arm to Learn Bimanual Policies. CoRR abs/2605.29298 (2026)
[i174]Qianzhong Chen, Hau Zheng, Justin Yu, Suning Huang, Jiankai Sun, Ken Goldberg, Chuan Wen, Pieter Abbeel, Yide Shentu, Philipp Wu, Mac Schwager:
SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation. CoRR abs/2606.10305 (2026)
[i173]Shutong Jin, Ziyang Chen, Preethi Satish, Paavan Gupta, Florian T. Pokorny, Ken Goldberg:
Adversarial Attacks on Learned Policies for Surgical Robotic Tasks. CoRR abs/2606.11535 (2026)
[i172]Dantong Niu, Zhuoyang Liu, Zekai Wang, Boning Shao, Zhao-Heng Yin, Anirudh Pai, Yuvan Sharma, Stefano Saravalle, Ruijie Zheng, Jing Wang, Ryan Punamiya, Mengda Xu, Yuqi Xie, Yunfan Jiang, Letian Fu, Konstantinos Kallidromitis, Matteo Gioia, Junyi Zhang, Jiaxin Ge, Haiwen Feng, Fabio Galasso, Wei Zhan, David M. Chan, Yutong Bai, Roei Herzig, Jiahui Lei, Li Fei-Fei, Ken Goldberg, Jitendra Malik, Pieter Abbeel, Yuke Zhu, Danfei Xu, Linxi Fan, Trevor Darrell:
T-Rex: Tactile-Reactive Dexterous Manipulation. CoRR abs/2606.17055 (2026)
[i171]Junyi Zhang, Jiaxin Ge, Hanjun Yoo, Letian Fu, Zihan Yang, Yaowei Liu, Raj Saravanan, Shaofeng Yin, Justin Yu, Dantong Niu, Zirui Wang, Roei Herzig, Ken Goldberg, Yutong Bai, David M. Chan, Ion Stoica, Angjoo Kanazawa, Jiahui Lei, Haiwen Feng, Trevor Darrell:
Playful Agentic Robot Learning. CoRR abs/2606.19419 (2026)
[i170]Wenli Xiao, Jia Xie, Tonghe Zhang, Haotian Lin, Letian "Max" Fu, Haoru Xue, Jalen Lu, Yi Yang, Cunxi Dai, Zi Wang, Jimmy Wu, Guanzhi Wang, S. Shankar Sastry, Ken Goldberg, Linxi "Jim" Fan, Yuke Zhu, Guanya Shi:
ENPIRE: Agentic Robot Policy Self-Improvement in the Real World. CoRR abs/2606.19980 (2026)
[i169]Justin Yu, Andrew Goldberg, Kavish Kondap, Karim El-Refai, Ethan Ransing, Qianzhong Chen, Mac Schwager, Fred Shentu, Philipp Wu, Ken Goldberg:
WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation. CoRR abs/2606.28320 (2026)
[i168]Runyu Lu, Yubo Wu, Ethan Kou, Letian Fu, Wenli Xiao, Ajay Mandlekar, Yinzhen Xu, Guanya Shi, Ken Goldberg, Ang Chen, Mosharaf Chowdhury, Yuke Zhu, Linxi "Jim" Fan, Guanzhi Wang:
ASPIRE: Agentic /Skills Discovery for Robotics. CoRR abs/2607.00272 (2026)
[i167]Shuangyu Xie, Kaiyuan Chen, Ziyang Chen, Simeon Adebola, Yixuan Huang, Zehan Ma, Tianshuang Qiu, Wentao Yuan, Dhruv Shah, Pannag R. Sanketi, Ken Goldberg:
RoboVista: Evaluating Vision Language Models for Diverse Robot Applications. CoRR abs/2607.04610 (2026)
[i166]Kaiyuan Chen, Shuangyu Xie, Letian Fu, Justin Yu, William Pacini, Sandeep Bajamahal, Hudson Kim, Jaimyn Drake, Daehwa Kim, Haoru Xue, Jonathan Francis, Christian Juette, Peter Schaldenbrand, Muhammet Yunus Seker, Ruwan Wickramarachchi, Uksang Yoo, Guanzhi Wang, Adithyavairavan Murali, Balakumar Sundaralingam, S. Shankar Sastry, Spencer Huang, Yuke Zhu, Linxi "Jim" Fan, Ken Goldberg:
GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks. CoRR abs/2607.05369 (2026)- 2025
[j110]Kush Hari
, Ziyang Chen
, Hansoul Kim
, Ken Goldberg
:
STITCH 2.0: Extending Augmented Suturing With EKF Needle Estimation and Thread Management. IEEE Robotics Autom. Lett. 10(12): 12700-12707 (2025)
[j109]Nancy M. Amato
, Seth Hutchinson
, Animesh Garg, Aude Billard
, Daniela Rus
, Russ Tedrake, Frank C. Park
, Ken Goldberg
:
"Data will solve robotics and automation: True or false?": A debate. Sci. Robotics 10(105) (2025)
[j108]Ken Goldberg
:
Good old-fashioned engineering can close the 100,000-year "data gap" in robotics. Sci. Robotics 10(105) (2025)
[j107]Letian Fu, Long Lian, Renhao Wang, Baifeng Shi, Xudong Wang, Adam Yala, Trevor Darrell, Alexei A. Efros, Ken Goldberg:
Rethinking Patch Dependence for Masked Autoencoders. Trans. Mach. Learn. Res. 2025 (2025)
[c343]Simeon Adebola, Shuangyu Xie, Chung Min Kim, Justin Kerr, Bart M. van Marrewijk, Mieke van Vlaardingen, Tim van Daalen, E. N. van Loo
, Jose Luis Susa Rincon, Eugen Solowjow, Rick van de Zedde, Ken Goldberg:
GrowSplat: Constructing Temporal Digital Twins of Plants with Gaussian Splats. CASE 2025: 1766-1773
[c342]Osher Azulay, Kavish Kondap, Jaimyn Drake, Shuangyu Xie, Hui Li, Sachin Chitta, Ken Goldberg:
MOTORCYCLE 1.0: Automating Bimanual Cable Routing Around Fixtures on the NIST Task Board. CASE 2025: 2636-2641
[c341]Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel:
OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction. ICML 2025
[c340]Kaiyuan Chen, Letian Fu, David Huang, Yanxiang Zhang, Lawrence Yunliang Chen, Huang Huang, Kush Hari, Ashwin Balakrishna, Ted Xiao, Pannag R. Sanketi, John Kubiatowicz, Ken Goldberg:
Robo-DM: Data Management for Large Robot Datasets. ICRA 2025: 83-89
[c339]Justin Yu, Kush Hari, Karim El-Refai, Arnav Dalal, Justin Kerr, Chung Min Kim, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg:
Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects. ICRA 2025: 3211-3218
[c338]Masoud Moghani, Nigel Nelson, Mohamed Ghanem, Andres Diaz-Pinto, Kush Hari, Mahdi Azizian, Ken Goldberg, Sean Huver, Animesh Garg:
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks. ICRA 2025: 4534-4541
[c337]Max Fu, Huang Huang, Gaurav Datta, Lawrence Yunliang Chen, Will Panitch, Fangchen Liu, Hui Li, Ken Goldberg:
ICRT: In-Context Imitation Learning via Next-Token Prediction. ICRA 2025: 5937-5944
[c336]Shuangyu Xie, Ken Goldberg, Dezhen Song:
Energy Efficient Planning for Repetitive Heterogeneous Tasks in Precision Agriculture. ICRA 2025: 7139-7145
[c335]Andrew Goldberg, Kavish Kondap, Tianshuang Qiu, Zehan Ma, Letian Fu, Justin Kerr, Huang Huang, Kaiyuan Chen, Kuan Fang
, Ken Goldberg:
Blox-Net: Generative Design-for-Robot-Assembly Using VLM Supervision, Physics Simulation, and a Robot with Reset. ICRA 2025: 15493-15500
[c334]Kaiyuan Chen, Nan Tian, Christian Juette, Tianshuang Qiu, Liu Ren, John Kubiatowicz, Ken Goldberg:
FogROS2-PLR: Probabilistic Latency-Reliability for Cloud Robotics. ICRA 2025: 16290-16297
[c333]Chung Min Kim, Brent Yi, Hongsuk Choi, Yi Ma, Ken Goldberg, Angjoo Kanazawa:
PyRoki: A Modular Toolkit for Robot Kinematic Optimization. IROS 2025: 1312-1319
[c332]Simeon Adebola, Chung Min Kim, Justin Kerr, Shuangyu Xie, Prithvi Akella, Jose Luis Susa Rincon, Eugen Solowjow, Ken Goldberg:
Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats. IROS 2025: 1839-1846
[c331]Ziyang Chen, Kush Hari, Tanmayi Dasari, Karen Shieh, Ria Jain, Danyal M. Fer, Gary Guthart, Ken Goldberg:
Surgical D-Knot: Augmented Dexterity for Tying Double Knots by Monitoring Optical Flow in Monocular Attention Windows. IROS 2025: 2148-2155
[c330]Tianshuang Qiu, Zehan Ma, Karim El-Refai, Hiya Shah, Chung Min Kim, Justin Kerr, Ken Goldberg:
Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging. IROS 2025: 18782-18789
[c329]Kaiyuan Eric Chen, Shuangyu Xie, Zehan Ma, Pannag Sanketi, Ken Goldberg:
Robo2VLM: Improving Visual Question Answering using Large-Scale Robot Manipulation Data. NeurIPS 2025
[i165]Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel:
OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction. CoRR abs/2503.03734 (2025)
[i164]Justin Yu, Kush Hari, Karim El-Refai, Arnav Dalal, Justin Kerr, Chung Min Kim, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg:
Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects. CoRR abs/2503.05189 (2025)
[i163]Abhiram Maddukuri, Zhenyu Jiang, Lawrence Yunliang Chen, Soroush Nasiriany, Yuqi Xie, Yu Fang, Wenqi Huang, Zu Wang, Zhenjia Xu, Nikita Chernyadev, Scott Reed, Ken Goldberg, Ajay Mandlekar, Linxi Fan, Yuke Zhu:
Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation. CoRR abs/2503.24361 (2025)
[i162]Shuangyu Xie, Ken Goldberg, Dezhen Song:
Energy Efficient Planning for Repetitive Heterogeneous Tasks in Precision Agriculture. CoRR abs/2504.03938 (2025)
[i161]Masoud Moghani, Nigel Nelson, Mohamed Ghanem, Andres Diaz-Pinto, Kush Hari, Mahdi Azizian, Ken Goldberg, Sean Huver, Animesh Garg:
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks. CoRR abs/2504.14857 (2025)
[i160]Neha Hulkund, Alaa Maalouf, Levi Cai, Daniel Yang, Tsun-Hsuan Wang, Abigail O'Neil, Timm Haucke, Sandeep Mukherjee, Vikram Ramaswamy, Judy Hansen Shen, Gabriel Tseng, Mike Walmsley, Daniela Rus, Ken Goldberg, Hannah Kerner, Irene Chen, Yogesh A. Girdhar, Sara Beery:
DataS^3: Dataset Subset Selection for Specialization. CoRR abs/2504.16277 (2025)
[i159]Chung Min Kim, Brent Yi, Hongsuk Choi, Yi Ma, Ken Goldberg, Angjoo Kanazawa:
PyRoki: A Modular Toolkit for Robot Kinematic Optimization. CoRR abs/2505.03728 (2025)
[i158]Justin Yu, Letian Fu, Huang Huang, Karim El-Refai, Rares Andrei Ambrus, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg:
Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware. CoRR abs/2505.09601 (2025)
[i157]Simeon Adebola, Shuangyu Xie, Chung Min Kim, Justin Kerr, Bart M. van Marrewijk, Mieke van Vlaardingen, Tim van Daalen, E. N. van Loo
, Jose Luis Susa Rincon, Eugen Solowjow, Rick van de Zedde, Ken Goldberg:
GrowSplat: Constructing Temporal Digital Twins of Plants with Gaussian Splats. CoRR abs/2505.10923 (2025)
[i156]Kaiyuan Chen, Shuangyu Xie, Zehan Ma, Ken Goldberg:
Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets. CoRR abs/2505.15517 (2025)
[i155]Kaiyuan Chen, Letian Fu, David Huang, Yanxiang Zhang, Lawrence Yunliang Chen, Huang Huang, Kush Hari, Ashwin Balakrishna, Ted Xiao, Pannag R. Sanketi, John Kubiatowicz, Ken Goldberg:
Robo-DM: Data Management For Large Robot Datasets. CoRR abs/2505.15558 (2025)
[i154]Justin Kerr, Kush Hari, Ethan Weber, Chung Min Kim, Brent Yi, Tyler Bonnen, Ken Goldberg, Angjoo Kanazawa:
Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop. CoRR abs/2506.10968 (2025)
[i153]Aude Billard, Alin Albu-Schäffer, Michael Beetz, Wolfram Burgard, Peter Corke, Matei T. Ciocarlie, Ravinder Dahiya, Danica Kragic, Ken Goldberg, Yukie Nagai, Davide Scaramuzza:
A roadmap for AI in robotics. CoRR abs/2507.19975 (2025)
[i152]Tianshuang Qiu, Zehan Ma, Karim El-Refai, Hiya Shah, Chung Min Kim, Justin Kerr, Ken Goldberg:
Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging. CoRR abs/2508.00354 (2025)
[i151]Simeon Adebola, Chung Min Kim, Justin Kerr, Shuangyu Xie, Prithvi Akella, Jose Luis Susa Rincon, Eugen Solowjow, Ken Goldberg:
Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats. CoRR abs/2510.17783 (2025)
[i150]Kush Hari, Ziyang Chen, Hansoul Kim, Ken Goldberg:
STITCH 2.0: Extending Augmented Suturing with EKF Needle Estimation and Thread Management. CoRR abs/2510.25768 (2025)
[i149]Justin Yu, Yide Shentu, Di Wu, Pieter Abbeel, Ken Goldberg, Philipp Wu:
EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations. CoRR abs/2511.00153 (2025)
[i148]Shuangyu Xie, Kaiyuan Chen, Wenjing Chen, Chengyuan Qian, Christian Juette, Liu Ren, Dezhen Song, Ken Goldberg:
LAVQA: A Latency-Aware Visual Question Answering Framework for Shared Autonomy in Self-Driving Vehicles. CoRR abs/2511.11840 (2025)
[i147]Guanhua Ji, Harsha Polavaram, Lawrence Yunliang Chen, Sandeep Bajamahal, Zehan Ma, Simeon Adebola, Chenfeng Xu, Ken Goldberg:
OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning. CoRR abs/2512.13100 (2025)- 2024
[j106]Ken Goldberg
, Gary Guthart:
Augmented dexterity: How robots can enhance human surgical skills. Sci. Robotics 9(95) (2024)
[j105]Lawrence Yunliang Chen
, Huang Huang
, Ken Goldberg
:
Optimal Arrangement and Rearrangement of Objects on Shelves to Minimize Robot Retrieval Cost. IEEE Trans Autom. Sci. Eng. 21(3): 2184-2198 (2024)
[j104]Simeon Adebola
, Mark Presten, Rishi Parikh, Shrey Aeron
, Sandeep Mukherjee, Satvik Sharma, Mark Theis, Walter Teitelbaum, Eugen Solowjow, Ken Goldberg
:
Automated Pruning and Irrigation of Polyculture Plants. IEEE Trans Autom. Sci. Eng. 21(3): 2199-2210 (2024)
[c328]Viraj Ramakrishnan, Julia Isaac, Harshika Jalan, Harsha Polavaram, Aviv Adler, Hansoul Kim, Danyal M. Fer, Ken Goldberg:
Automating 3D Surgical Suture Planning. CASE 2024: 2111-2116
[c327]Simeon Adebola, Tara Sadjadpour, Karim El-Refai, Will Panitch, Zehan Ma, Roy Lin, Tianshuang Qiu, Shreya Ganti, Charlotte Le, Jaimyn Drake, Ken Goldberg:
Automating Deformable Gasket Assembly. CASE 2024: 4146-4153
[c326]Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg:
RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning. CoRL 2024: 209-233
[c325]Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Ken Goldberg, Angjoo Kanazawa:
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction. CoRL 2024: 587-603
[c324]Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox:
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning. CoRL 2024: 4392-4409
[c323]Chung Min Kim, Mingxuan Wu, Justin Kerr, Ken Goldberg, Matthew Tancik, Angjoo Kanazawa:
GARField: Group Anything with Radiance Fields. CVPR 2024: 21530-21539
[c322]Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg:
A Touch, Vision, and Language Dataset for Multimodal Alignment. ICML 2024: 14080-14101
[c321]Abby O'Neill, Abdul Rehman, Abhiram Maddukuri, Abhishek Gupta, Abhishek Padalkar
, Abraham Lee, Acorn Pooley, Agrim Gupta, Ajay Mandlekar, Ajinkya Jain, Albert Tung, Alex Bewley, Alexander Herzog, Alex Irpan, Alexander Khazatsky, Anant Rai, Anchit Gupta, Andrew E. Wang, Anikait Singh, Animesh Garg, Aniruddha Kembhavi, Annie Xie, Anthony Brohan, Antonin Raffin, Archit Sharma, Arefeh Yavary, Arhan Jain, Ashwin Balakrishna, Ayzaan Wahid, Ben Burgess-Limerick, Beomjoon Kim, Bernhard Schölkopf, Blake Wulfe, Brian Ichter, Cewu Lu, Charles Xu, Charlotte Le, Chelsea Finn
, Chen Wang, Chenfeng Xu, Cheng Chi, Chenguang Huang, Christine Chan, Christopher Agia, Chuer Pan, Chuyuan Fu, Coline Devin, Danfei Xu, Daniel Morton, Danny Driess, Daphne Chen, Deepak Pathak, Dhruv Shah, Dieter Büchler, Dinesh Jayaraman, Dmitry Kalashnikov, Dorsa Sadigh, Edward Johns
, Ethan Paul Foster, Fangchen Liu, Federico Ceola, Fei Xia, Feiyu Zhao, Freek Stulp
, Gaoyue Zhou, Gaurav S. Sukhatme, Gautam Salhotra, Ge Yan, Gilbert Feng, Giulio Schiavi, Glen Berseth, Gregory Kahn, Guanzhi Wang, Hao Su, Haoshu Fang, Haochen Shi, Henghui Bao, Heni Ben Amor, Henrik I. Christensen
, Hiroki Furuta, Homer Walke, Hongjie Fang, Huy Ha, Igor Mordatch, Ilija Radosavovic, Isabel Leal, Jacky Liang, Jad Abou-Chakra, Jaehyung Kim, Jaimyn Drake, Jan Peters, Jan Schneider, Jasmine Hsu, Jeannette Bohg
, Jeffrey T. Bingham, Jeffrey Wu, Jensen Gao, Jiaheng Hu, Jiajun Wu, Jialin Wu, Jiankai Sun, Jianlan Luo, Jiayuan Gu, Jie Tan, Jihoon Oh, Jimmy Wu, Jingpei Lu, Jingyun Yang, Jitendra Malik, João Silvério, Joey Hejna, Jonathan Booher, Jonathan Tompson, Jonathan Yang, Jordi Salvador, Joseph J. Lim, Junhyek Han, Kaiyuan Wang, Kanishka Rao, Karl Pertsch, Karol Hausman, Keegan Go, Keerthana Gopalakrishnan, Ken Goldberg, Kendra Byrne, Kenneth Oslund, Kento Kawaharazuka, Kevin Black, Kevin Lin, Kevin Zhang, Kiana Ehsani, Kiran Lekkala, Kirsty Ellis, Krishan Rana, Krishnan Srinivasan, Kuan Fang
, Kunal Pratap Singh, Kuo-Hao Zeng, Kyle Hatch, Kyle Hsu, Laurent Itti, Lawrence Yunliang Chen, Lerrel Pinto, Li Fei-Fei, Liam Tan, Linxi Jim Fan, Lionel Ott, Lisa Lee, Luca Weihs, Magnum Chen, Marion Lepert, Marius Memmel, Masayoshi Tomizuka, Masha Itkina, Mateo Guaman Castro, Max Spero, Maximilian Du, Michael Ahn, Michael C. Yip, Mingtong Zhang, Mingyu Ding, Minho Heo, Mohan Kumar Srirama, Mohit Sharma, Moo Jin Kim, Naoaki Kanazawa, Nicklas Hansen, Nicolas Heess, Nikhil J. Joshi, Niko Sünderhauf
, Ning Liu, Norman Di Palo, Nur Muhammad (Mahi) Shafiullah, Oier Mees, Oliver Kroemer, Osbert Bastani, Pannag R. Sanketi, Patrick Tree Miller, Patrick Yin, Paul Wohlhart, Peng Xu, Peter David Fagan, Peter Mitrano, Pierre Sermanet, Pieter Abbeel, Priya Sundaresan, Qiuyu Chen, Quan Vuong, Rafael Rafailov, Ran Tian, Ria Doshi, Roberto Martín-Martín, Rohan Baijal, Rosario Scalise, Rose Hendrix, Roy Lin, Runjia Qian, Ruohan Zhang, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante-Gomez, Sean Kirmani, Sergey Levine, Shan Lin, Sherry Moore, Shikhar Bahl, Shivin Dass, Shubham D. Sonawani, Shuran Song
, Sichun Xu, Siddhant Haldar, Siddharth Karamcheti, Simeon Adebola, Simon Guist, Soroush Nasiriany, Stefan Schaal, Stefan Welker, Stephen Tian, Subramanian Ramamoorthy, Sudeep Dasari, Suneel Belkhale, Sungjae Park, Suraj Nair, Suvir Mirchandani, Takayuki Osa, Tanmay Gupta
, Tatsuya Harada, Tatsuya Matsushima, Ted Xiao, Thomas Kollar, Tianhe Yu, Tianli Ding, Todor Davchev, Tony Z. Zhao, Travis Armstrong, Trevor Darrell, Trinity Chung, Vidhi Jain, Vincent Vanhoucke, Wei Zhan, Wenxuan Zhou, Wolfram Burgard, Xi Chen, Xiaolong Wang, Xinghao Zhu, Xinyang Geng, Xiyuan Liu, Liangwei Xu, Xuanlin Li, Yao Lu, Yecheng Jason Ma, Yejin Kim, Yevgen Chebotar, Yifan Zhou, Yifeng Zhu, Yilin Wu, Ying Xu, Yixuan Wang, Yonatan Bisk, Yoonyoung Cho, Youngwoon Lee, Yuchen Cui, Yue Cao, Yueh-Hua Wu, Yujin Tang, Yuke Zhu, Yunchu Zhang, Yunfan Jiang, Yunshuang Li, Yunzhu Li, Yusuke Iwasawa, Yutaka Matsuo, Zehan Ma, Zhuo Xu, Zichen Jeff Cui, Zichen Zhang, Zipeng Lin:
Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration. ICRA 2024: 6892-6903
[c320]Adam Rashid, Chung Min Kim, Justin Kerr, Letian Fu, Kush Hari, Ayah Ahmad
, Kaiyuan Chen, Huang Huang, Marcus Gualtieri, Michael Wang, Christian Juette, Nan Tian, Liu Ren, Ken Goldberg:
Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS2. ICRA 2024: 7740-7747
[c319]Huang Huang, Antonio Loquercio, Ashish Kumar, Neerja Thakkar, Ken Goldberg, Jitendra Malik:
Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion. ICRA 2024: 9712-9719
[c318]Kaiyuan Chen, Michael Wang, Marcus Gualtieri, Nan Tian, Christian Juette, Liu Ren, Jeffrey Ichnowski
, John Kubiatowicz, Ken Goldberg:
FogROS2-LS: A Location-Independent Fog Robotics Framework for Latency Sensitive ROS2 Applications. ICRA 2024: 10581-10587
[c317]Kaiyuan Chen, Kush Hari, Rohil Khare, Charlotte Le, Trinity Chung, Jaimyn Drake, Jeffrey Ichnowski
, John Kubiatowicz, Ken Goldberg:
FogROS2-Config: A Toolkit for Choosing Server Configurations for Cloud Robotics. ICRA 2024: 12083-12089
[c316]Qinxi Yu, Masoud Moghani, Karthik Dharmarajan, Vincent Schorp, William Chung-Ho Panitch, Jingzhou Liu, Kush Hari, Huang Huang, Mayank Mittal, Ken Goldberg, Animesh Garg
:
Orbit-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity. ICRA 2024: 15509-15516
[c315]Huang Huang, Satvik Sharma, Antonio Loquercio
, Anastasios Angelopoulos, Ken Goldberg, Jitendra Malik:
Conformal Policy Learning for Sensorimotor Control under Distribution Shifts. ICRA 2024: 16285-16291
[c314]Justin Yu, Tara Sadjadpour, Abby O'Neill, Mehdi Khfifi, Lawrence Yunliang Chen, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg:
MANIP: A Modular Architecture for Integrating Interactive Perception for Robot Manipulation. IROS 2024: 1283-1289
[c313]Kaiyuan Chen, Kush Hari, Trinity Chung, Michael Wang, Nan Tian, Christian Juette, Jeffrey Ichnowski
, Liu Ren, John Kubiatowicz, Ion Stoica, Ken Goldberg:
FogROS2-FT: Fault Tolerant Cloud Robotics. IROS 2024: 1390-1397
[c312]Ryan Hoque, Ajay Mandlekar, Caelan Reed Garrett, Ken Goldberg, Dieter Fox:
IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning. IROS 2024: 2840-2846
[c311]Masoud Moghani, Lars Doorenbos, William Chung-Ho Panitch, Sean Huver, Mahdi Azizian, Ken Goldberg, Animesh Garg
:
SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants. IROS 2024: 6969-6976
[c310]Zachary Tam, Karthik Dharmarajan, Tianshuang Qiu, Yahav Avigal, Jeffrey Ichnowski
, Ken Goldberg:
BOMP: Bin-Optimized Motion Planning. IROS 2024: 11056-11063
[c309]Justin Yu, Kush Hari, Kishore Srinivas, Karim El-Refai, Adam Rashid, Chung Min Kim, Justin Kerr, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg:
Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot. IROS 2024: 13326-13332
[c308]Kush Hari, Hansoul Kim, Will Panitch, Kishore Srinivas, Vincent Schorp, Karthik Dharmarajan, Shreya Ganti, Tara Sadjadpour, Ken Goldberg:
STITCH: Augmented Dexterity for Suture Throws Including Thread Coordination and Handoffs. ISMR 2024: 1-7
[c307]Lawrence Yunliang Chen, Karthik Dharmarajan, Kush Hari, Chenfeng Xu, Quan Vuong, Ken Goldberg:
MIRAGE: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting. Robotics: Science and Systems 2024
[c306]Alexander Khazatsky, Karl Pertsch, Suraj Nair, Ashwin Balakrishna, Sudeep Dasari, Siddharth Karamcheti, Soroush Nasiriany, Mohan Kumar Srirama, Lawrence Yunliang Chen, Kirsty Ellis, Peter David Fagan, Joey Hejna, Masha Itkina, Marion Lepert, Yecheng Jason Ma, Patrick Tree Miller, Jimmy Wu, Suneel Belkhale, Shivin Dass, Huy Ha, Arhan Jain, Abraham Lee, Youngwoon Lee, Marius Memmel, Sungjae Park, Ilija Radosavovic, Kaiyuan Wang, Albert Zhan, Kevin Black, Cheng Chi, Kyle Beltran Hatch, Shan Lin, Jingpei Lu, Jean Mercat, Abdul Rehman, Pannag R. Sanketi, Archit Sharma, Cody Simpson, Quan Vuong, Homer Rich Walke, Blake Wulfe, Ted Xiao, Jonathan Heewon Yang, Arefeh Yavary, Tony Z. Zhao, Christopher Agia, Rohan Baijal, Mateo Guaman Castro, Daphne Chen, Qiuyu Chen, Trinity Chung, Jaimyn Drake, Ethan Paul Foster, Jensen Gao, David Antonio Herrera, Minho Heo, Kyle Hsu, Jiaheng Hu, Donovon Jackson, Charlotte Le, Yunshuang Li, Roy Lin, Zehan Ma, Abhiram Maddukuri, Suvir Mirchandani, Daniel Morton, Tony Nguyen, Abigail O'Neill, Rosario Scalise, Derick Seale, Victor Son, Stephen Tian, Emi Tran, Andrew E. Wang, Yilin Wu, Annie Xie, Jingyun Yang, Patrick Yin, Yunchu Zhang, Osbert Bastani, Glen Berseth, Jeannette Bohg
, Ken Goldberg, Abhinav Gupta, Abhishek Gupta, Dinesh Jayaraman, Joseph J. Lim, Jitendra Malik, Roberto Martín-Martín, Subramanian Ramamoorthy, Dorsa Sadigh, Shuran Song, Jiajun Wu, Michael C. Yip, Yuke Zhu, Thomas Kollar, Sergey Levine, Chelsea Finn:
DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset. Robotics: Science and Systems 2024
[i146]Chung Min Kim, Mingxuan Wu, Justin Kerr, Ken Goldberg, Matthew Tancik, Angjoo Kanazawa:
GARField: Group Anything with Radiance Fields. CoRR abs/2401.09419 (2024)
[i145]Letian Fu, Long Lian, Renhao Wang, Baifeng Shi, Xudong Wang, Adam Yala, Trevor Darrell, Alexei A. Efros, Ken Goldberg:
Rethinking Patch Dependence for Masked Autoencoders. CoRR abs/2401.14391 (2024)
[i144]Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg:
A Touch, Vision, and Language Dataset for Multimodal Alignment. CoRR abs/2402.13232 (2024)
[i143]Lawrence Yunliang Chen, Kush Hari, Karthik Dharmarajan, Chenfeng Xu, Quan Vuong, Ken Goldberg:
Mirage: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting. CoRR abs/2402.19249 (2024)
[i142]Adam Rashid, Chung Min Kim, Justin Kerr, Letian Fu, Kush Hari, Ayah Ahmad, Kaiyuan Chen, Huang Huang, Marcus Gualtieri, Michael Wang, Christian Juette, Nan Tian, Liu Ren, Ken Goldberg:
Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS2. CoRR abs/2403.10494 (2024)
[i141]Kush Hari, Hansoul Kim, Will Panitch, Kishore Srinivas, Vincent Schorp, Karthik Dharmarajan, Shreya Ganti, Tara Sadjadpour, Ken Goldberg:
STITCH: Augmented Dexterity for Suture Throws Including Thread Coordination and Handoffs. CoRR abs/2404.05151 (2024)
[i140]Qinxi Yu, Masoud Moghani
, Karthik Dharmarajan, Vincent Schorp, William Chung-Ho Panitch, Jingzhou Liu, Kush Hari, Huang Huang, Mayank Mittal, Ken Goldberg, Animesh Garg
:
ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity. CoRR abs/2404.16027 (2024)
[i139]Ryan Hoque, Ajay Mandlekar, Caelan Reed Garrett, Ken Goldberg, Dieter Fox:
IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning. CoRR abs/2405.01472 (2024)
[i138]Masoud Moghani, Lars Doorenbos, William Chung-Ho Panitch, Sean Huver, Mahdi Azizian, Ken Goldberg, Animesh Garg
:
SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants. CoRR abs/2405.05226 (2024)
[i137]Jonathan Wang, Huang Huang, Vincent Lim, Harry Zhang, Jeffrey Ichnowski
, Daniel Seita, Yunliang Chen, Ken Goldberg:
Self-Supervised Learning of Dynamic Planar Manipulation of Free-End Cables. CoRR abs/2405.09581 (2024)
[i136]Simeon Adebola, Tara Sadjadpour, Karim El-Refai, Will Panitch, Zehan Ma, Roy Lin, Tianshuang Qiu, Shreya Ganti, Charlotte Le, Jaimyn Drake, Ken Goldberg:
Automating Deformable Gasket Assembly. CoRR abs/2408.12593 (2024)
[i135]Letian Fu, Huang Huang, Gaurav Datta, Lawrence Yunliang Chen, William Chung-Ho Panitch, Fangchen Liu, Hui Li, Ken Goldberg:
In-Context Imitation Learning via Next-Token Prediction. CoRR abs/2408.15980 (2024)
[i134]Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Muhammad Zubair Irshad, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg:
RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning. CoRR abs/2409.03403 (2024)
[i133]Andrew Goldberg, Kavish Kondap, Tianshuang Qiu, Zehan Ma, Letian Fu, Justin Kerr, Huang Huang, Kaiyuan Chen, Kuan Fang, Ken Goldberg:
Blox-Net: Generative Design-for-Robot-Assembly Using VLM Supervision, Physics Simulation, and a Robot with Reset. CoRR abs/2409.17126 (2024)
[i132]Justin Yu, Kush Hari, Kishore Srinivas, Karim El-Refai, Adam Rashid, Chung Min Kim, Justin Kerr, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg:
Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot. CoRR abs/2409.18108 (2024)
[i131]Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Ken Goldberg, Angjoo Kanazawa:
Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction. CoRR abs/2409.18121 (2024)
[i130]Kaiyuan Chen, Nan Tian, Christian Juette, Tianshuang Qiu, Liu Ren, John Kubiatowicz, Ken Goldberg:
FogROS2-PLR: Probabilistic Latency-Reliability For Cloud Robotics. CoRR abs/2410.05562 (2024)
[i129]Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox:
DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning. CoRR abs/2410.16727 (2024)
[i128]Zachary Tam, Karthik Dharmarajan, Tianshuang Qiu, Yahav Avigal, Jeffrey Ichnowski
, Ken Goldberg:
BOMP: Bin-Optimized Motion Planning. CoRR abs/2411.00221 (2024)
[i127]Catie Cuan, Tianshuang Qiu, Shreya Ganti, Ken Goldberg:
Breathless: An 8-hour Performance Contrasting Human and Robot Expressiveness. CoRR abs/2411.12361 (2024)
[i126]Ion Stoica, Matei Zaharia, Joseph Gonzalez, Ken Goldberg, Koushik Sen, Hao Zhang, Anastasios Angelopoulos, Shishir G. Patil, Lingjiao Chen, Wei-Lin Chiang, Jared Quincy Davis:
Specifications: The missing link to making the development of LLM systems an engineering discipline. CoRR abs/2412.05299 (2024)
[i125]Kaiyuan Chen, Kush Hari, Trinity Chung, Michael Wang, Nan Tian, Christian Juette, Jeffrey Ichnowski
, Liu Ren, John Kubiatowicz, Ion Stoica, Ken Goldberg:
FogROS2-FT: Fault Tolerant Cloud Robotics. CoRR abs/2412.05408 (2024)- 2023
[j103]Karthik Dharmarajan, Will Panitch, Baiyu Shi, Huang Huang, Lawrence Yunliang Chen, Masoud Moghani
, Qinxi Yu, Kush Hari, Thomas Low, Danyal Fer, Animesh Garg
, Ken Goldberg:
Robot-Assisted Vascular Shunt Insertion with the dVRK Surgical Robot. J. Medical Robotics Res. 8(3&4): 2340006:1-2340006:15 (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)
[c305]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
[c304]Varun Kamat, Shrey Aeron, Anrui Gu, Harshika Jalan, Simeon Adebola, Ken Goldberg:
PolyPoD: An Algorithm for Polyculture Seed Placement. CASE 2023: 1-6
[c303]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
[c302]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
[c301]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
[c300]Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen, Angjoo Kanazawa, Ken Goldberg:
Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping. CoRL 2023: 178-200
[c299]Vainavi Viswanath, Kaushik Shivakumar, Mallika Parulekar, Jainil Ajmera, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg:
HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation. CoRL 2023: 341-357
[c298]Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik:
Robot Learning with Sensorimotor Pre-training. CoRL 2023: 683-693
[c297]Satvik Sharma, Huang Huang, Kaushik Shivakumar, Lawrence Yunliang Chen, Ryan Hoque, Brian Ichter, Ken Goldberg:
Semantic Mechanical Search with Large Vision and Language Models. CoRL 2023: 971-1005
[c296]Gaurav Datta, Ryan Hoque, Anrui Gu, Eugen Solowjow, Ken Goldberg:
IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors. CoRL 2023: 2340-2356
[c295]Justin Kerr, Chung Min Kim, Ken Goldberg, Angjoo Kanazawa, Matthew Tancik:
LERF: Language Embedded Radiance Fields. ICCV 2023: 19672-19682
[c294]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
[c293]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
[c292]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
[c291]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
[c290]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
[c289]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
[c288]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. IROS 2023: 1-8
[c287]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. IROS 2023: 3176-3183
[c286]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. IROS 2023: 10660-10667
[c285]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
[c284]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. NeurIPS 2023
[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 Gonzalez
, 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,


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