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Kenneth Y. Goldberg

Ken Goldberg

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affiliation: University of California, Berkeley, USA

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2024
[j106]
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Ken Goldberg, Gary Guthart:
Augmented dexterity: How robots can enhance human surgical skills. Sci. Robotics 9(95) (2024)
[j105]
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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]
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  - journals/tase/AdebolaPPAMSTTSG24
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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)
[c317]
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  - conf/case/RamakrishnanIJP24
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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
[c316]
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  - conf/case/AdebolaSEPMLQGL24
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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
[c315]
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  - conf/cvpr/KimWKGTK24
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Chung Min Kim, Mingxuan Wu, Justin Kerr, Ken Goldberg, Matthew Tancik, Angjoo Kanazawa:
GARField: Group Anything with Radiance Fields. CVPR 2024: 21530-21539
[c314]
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  - conf/icml/FuDHPDOMLCG24
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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
[c313]
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  - conf/icra/ONeillRMGPLPGMJ24
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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 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 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, 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
[c312]
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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
[c311]
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  - conf/icra/HuangLKTGM24
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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
[c310]
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  - conf/icra/ChenWGTJRIKG24
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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
[c309]
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  - conf/icra/ChenHKLCDIKG24
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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
[c308]
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  - conf/icra/YuMDSPLHHMGG24
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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
[c307]
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  - conf/icra/HuangSLAGM24
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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
[c306]
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  - conf/ismr/HariKPSSDGSG24
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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
[i142]
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  - journals/corr/abs-2401-09419
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Chung Min Kim, Mingxuan Wu, Justin Kerr, Ken Goldberg, Matthew Tancik, Angjoo Kanazawa:
GARField: Group Anything with Radiance Fields. CoRR abs/2401.09419 (2024)
[i141]
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  - journals/corr/abs-2401-14391
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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)
[i140]
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  - journals/corr/abs-2402-13232
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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)
[i139]
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  - journals/corr/abs-2402-19249
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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)
[i138]
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  - journals/corr/abs-2403-10494
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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)
[i137]
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  - journals/corr/abs-2404-05151
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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)
[i136]
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  - journals/corr/abs-2404-16027
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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)
[i135]
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  - journals/corr/abs-2405-01472
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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)
[i134]
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  - journals/corr/abs-2405-05226
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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)
[i133]
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  - journals/corr/abs-2405-09581
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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)
[i132]
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  - journals/corr/abs-2408-12593
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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)
[i131]
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  - journals/corr/abs-2408-15980
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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)
[i130]
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  - journals/corr/abs-2409-03403
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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)
[i129]
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  - journals/corr/abs-2409-17126
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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)
[i128]
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  - journals/corr/abs-2409-18108
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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)
[i127]
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  - journals/corr/abs-2409-18121
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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)
[i126]
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  - journals/corr/abs-2410-05562
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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)
[i125]
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  - journals/corr/abs-2410-16727
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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)
2023
[j103]
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  - journals/jmrr/DharmarajanPSHCMYHLFGG23
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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]
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  - journals/ram/ParkVGWSZLC23
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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]
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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]
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  - journals/tase/HwangITSPFLG23
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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]
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  - conf/case/AeronLAADG23
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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]
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Varun Kamat, Shrey Aeron, Anrui Gu, Harshika Jalan, Simeon Adebola, Ken Goldberg:
PolyPoD: An Algorithm for Polyculture Seed Placement. CASE 2023: 1-6
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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
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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
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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
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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
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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
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Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik:
Robot Learning with Sensorimotor Pre-training. CoRL 2023: 683-693
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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]
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Gaurav Datta, Ryan Hoque, Anrui Gu, Eugen Solowjow, Ken Goldberg:
IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors. CoRL 2023: 2340-2356
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Justin Kerr, Chung Min Kim, Ken Goldberg, Angjoo Kanazawa, Matthew Tancik:
LERF: Language Embedded Radiance Fields. ICCV 2023: 19672-19682
[c294]
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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]
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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
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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
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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
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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]
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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]
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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
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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
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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
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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]
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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
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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]
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  - journals/corr/abs-2302-12915
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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]
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  - journals/corr/abs-2303-08975
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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]
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  - journals/corr/abs-2303-09553
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Justin Kerr, Chung Min Kim, Ken Goldberg, Angjoo Kanazawa, Matthew Tancik:
LERF: Language Embedded Radiance Fields. CoRR abs/2303.09553 (2023)
[i121]
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  - journals/corr/abs-2303-16898
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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]
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  - journals/corr/abs-2305-01648
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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]
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  - journals/corr/abs-2305-14343
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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]
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  - journals/corr/abs-2306-10007
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Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik:
Robot Learning with Sensorimotor Pre-training. CoRR abs/2306.10007 (2023)
[i117]
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  - journals/corr/abs-2306-14021
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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]
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  - journals/corr/abs-2306-15228
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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]
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  - journals/corr/abs-2306-17157
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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]
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  - journals/corr/abs-2306-17162
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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]
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  - journals/corr/abs-2307-03882
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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]
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  - journals/corr/abs-2307-06845
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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]
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  - journals/corr/abs-2309-07970
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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]
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  - journals/corr/abs-2310-16951
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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]
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  - journals/corr/abs-2311-01457
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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]
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  - journals/corr/abs-2311-05600
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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]
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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]
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  - journals/pieee/FioriniGLT22
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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]
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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]
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  - journals/tase/AvigalWPTADSPOC22
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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]
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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]
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  - conf/case/ChenHDIG22
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Lawrence Yunliang Chen, Huang Huang, Michael Danielczuk, Jeffrey Ichnowski, Ken Goldberg:
Optimal Shelf Arrangement to Minimize Robot Retrieval Time. CASE 2022: 993-1000
[c280]
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  - conf/case/SharmaNVJPHBBG22
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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]
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  - conf/case/BonnePDSKLKCFTK22
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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]
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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
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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
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Philipp Wu, Alejandro Escontrela, Danijar Hafner, Pieter Abbeel, Ken Goldberg:
DayDreamer: World Models for Physical Robot Learning. CoRL 2022: 2226-2240
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  - conf/icra/GanapathiFVBGZ22
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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
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Jeffrey Ichnowski, Yahav Avigal, Yi Liu, Ken Goldberg:
GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport. ICRA 2022: 5255-5261
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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
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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
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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
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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
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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
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  - conf/iros/AvigalBAKG22
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Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Kröger, Ken Goldberg:
SpeedFolding: Learning Efficient Bimanual Folding of Garments. IROS 2022: 1-8
[c267]
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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
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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
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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
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  - conf/isrr/ChenHNSILCKG22
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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
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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
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Wisdom C. Agboh, Jeffrey Ichnowski, Ken Goldberg, Mehmet Remzi Dogar:
Multi-object Grasping in the Plane. ISRR 2022: 222-238
[c261]
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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
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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
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Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao, Ken Goldberg:
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport. WAFR 2022: 488-505
[i107]
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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]
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  - journals/corr/abs-2203-01983
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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]
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  - journals/corr/abs-2203-04272
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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]
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  - journals/corr/abs-2203-04566
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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]
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  - journals/corr/abs-2203-08359
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Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao, Ken Goldberg:
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport. CoRR abs/2203.08359 (2022)
[i102]
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  - journals/corr/abs-2203-15103
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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]
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  - journals/corr/abs-2204-10297
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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]
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  - journals/corr/abs-2205-07147
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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]
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  - journals/corr/abs-2205-09778
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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]
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  - journals/corr/abs-2206-00229
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Wisdom C. Agboh, Jeffrey Ichnowski, Ken Goldberg, Mehmet Remzi Dogar:
Multi-Object Grasping in the Plane. CoRR abs/2206.00229 (2022)
[i97]
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  - journals/corr/abs-2206-08607
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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]
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  - journals/corr/abs-2206-08921
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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]
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  - journals/corr/abs-2206-14176
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Philipp Wu, Alejandro Escontrela, Danijar Hafner, Ken Goldberg, Pieter Abbeel:
DayDreamer: World Models for Physical Robot Learning. CoRR abs/2206.14176 (2022)
[i94]
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  - journals/corr/abs-2206-14349
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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]
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  - journals/corr/abs-2207-00911
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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]
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  - journals/corr/abs-2207-02347
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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]
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  - journals/corr/abs-2207-07813
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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]
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  - journals/corr/abs-2208-10472
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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]
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  - journals/corr/abs-2208-10552
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Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Kröger, Ken Goldberg:
SpeedFolding: Learning Efficient Bimanual Folding of Garments. CoRR abs/2208.10552 (2022)
[i88]
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  - journals/corr/abs-2209-13042
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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]
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  - journals/corr/abs-2209-13706
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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]
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  - journals/corr/abs-2210-01340
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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]
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  - journals/corr/abs-2210-07420
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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]
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  - journals/corr/abs-2210-07432
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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]
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  - journals/corr/abs-2210-11691
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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]
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  - journals/corr/abs-2210-17217
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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]
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  - journals/corr/abs-2211-02293
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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]
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  - journals/arobots/WelleVMGKP21
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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]
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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)
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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)
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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)
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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)
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Ken Goldberg:
Getting a grip on reality. Sci. Robotics 6(54): 9225 (2021)
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  - journals/scirobotics/YangCDFGLM21
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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)
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  - journals/tase/HoferBHGMGAFGLL21
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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)
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  - conf/africon/AdebolaG21
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Simeon Adebola, Ken Goldberg:
Assisting Polyculture Farming in Africa. AFRICON 2021: 1-2
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  - conf/case/HoqueBPLBSTNG21
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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
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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
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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
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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
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Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg:
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects. CoRL 2021: 526-536
[c252]
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Ryan Hoque, Ashwin Balakrishna, Ellen R. Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg:
ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning. CoRL 2021: 598-608
[c251]
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  - conf/corl/WilcoxBTGG21
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Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg:
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks. CoRL 2021: 959-969
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  - conf/icml/JavedBSZBPDG21
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Zaynah Javed, Daniel S. Brown, Satvik Sharma, Jerry Zhu, Ashwin Balakrishna, Marek Petrik, Anca D. Dragan, Ken Goldberg:
Policy Gradient Bayesian Robust Optimization for Imitation Learning. ICML 2021: 4785-4796
[c249]
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Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph Gonzalez:
Resource Allocation in Multi-armed Bandit Exploration: Overcoming Sublinear Scaling with Adaptive Parallelism. ICML 2021: 10236-10246
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Yahav Avigal, Anna Deza, William Wong, Sebastian Oehme, Mark Presten, Mark Theis, Jackson Chui, Paul Shao, Huang Huang, Atsunobu Kotani, Satvik Sharma, Rishi Parikh, Michael Luo, Sandeep Mukherjee, Stefano Carpin, Joshua H. Viers, Stavros Vougioukas, Ken Goldberg:
Learning Seed Placements and Automation Policies for Polyculture Farming with Companion Plants. ICRA 2021: 902-908
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  - conf/icra/ZhangISWHG21
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Harry Zhang, Jeffrey Ichnowski, Daniel Seita, Jonathan Wang, Huang Huang, Ken Goldberg:
Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables. ICRA 2021: 4560-4567
[c246]
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  - conf/icra/SeitaFTCSGZ21
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Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng:
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks. ICRA 2021: 4568-4575
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Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg:
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation. ICRA 2021: 7166-7173
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Raghav Anand, Jeffrey Ichnowski, Chenggang Wu, Joseph M. Hellerstein, Joseph E. Gonzalez, Ken Goldberg:
Serverless Multi-Query Motion Planning for Fog Robotics. ICRA 2021: 7457-7463
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  - conf/icra/KurenkovMIGS21
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Andrey Kurenkov, Roberto Martín-Martín, Jeffrey Ichnowski, Ken Goldberg, Silvio Savarese:
Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search. ICRA 2021: 11227-11233
[c242]
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  - conf/icra/GanapathiSTBSGH21
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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:
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics. ICRA 2021: 11515-11522
[c241]
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  - conf/iros/HuhSDLCGS21
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Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica S. Li, Yunliang Chen, Ken Goldberg, Hannah S. Stuart:
A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration. IROS 2021: 1786-1793
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  - conf/iros/HuangDSDSILAVG21
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Huang Huang, Marcus Dominguez-Kuhne, Vishal Satish, Michael Danielczuk, Kate Sanders, Jeffrey Ichnowski, Andrew Lee, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg:
Mechanical Search on Shelves using Lateral Access X-RAY. IROS 2021: 2045-2052
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  - conf/iros/ViswanathGSTBNI21
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Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen R. Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Disentangling Dense Multi-Cable Knots. IROS 2021: 3731-3738
[c238]
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  - conf/nips/IchnowskiJSBLBG21
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Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato, Goran Banjac, Michael Luo, Francesco Borrelli, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg:
Accelerating Quadratic Optimization with Reinforcement Learning. NeurIPS 2021: 21043-21055
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  - conf/rss/SundaresanGTBIN21
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Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph Gonzalez, Ken Goldberg:
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies. Robotics: Science and Systems 2021
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  - conf/wafr/ThananjeyanBRGA21
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Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg:
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. WAFR 2021: 1-17
[i80]
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  - journals/corr/abs-2102-09754
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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. CoRR abs/2102.09754 (2021)
[i79]
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  - journals/corr/abs-2104-00053
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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. CoRR abs/2104.00053 (2021)
[i78]
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  - journals/corr/abs-2105-02345
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Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica S. Li, Ken Goldberg, Hannah S. Stuart:
A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration. CoRR abs/2105.02345 (2021)
[i77]
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  - journals/corr/abs-2105-14246
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Shivin Devgon, Jeffrey Ichnowski, Ashwin Balakrishna, Harry Zhang, Ken Goldberg:
Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms. CoRR abs/2105.14246 (2021)
[i76]
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  - journals/corr/abs-2106-02252
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Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen R. Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Disentangling Dense Multi-Cable Knots. CoRR abs/2106.02252 (2021)
[i75]
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  - journals/corr/abs-2106-03221
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Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez:
PAC Best Arm Identification Under a Deadline. CoRR abs/2106.03221 (2021)
[i74]
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  - journals/corr/abs-2106-06499
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Zaynah Javed, Daniel S. Brown, Satvik Sharma, Jerry Zhu, Ashwin Balakrishna, Marek Petrik, Anca D. Dragan, Ken Goldberg:
Policy Gradient Bayesian Robust Optimization for Imitation Learning. CoRR abs/2106.06499 (2021)
[i73]
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  - journals/corr/abs-2107-04775
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Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg:
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Iterative Tasks. CoRR abs/2107.04775 (2021)
[i72]
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  - journals/corr/abs-2107-05789
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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. CoRR abs/2107.05789 (2021)
[i71]
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  - journals/corr/abs-2107-08942
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Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies. CoRR abs/2107.08942 (2021)
[i70]
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  - journals/corr/abs-2107-10847
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Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato, Goran Banjac, Michael Luo, Francesco Borrelli, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg:
Accelerating Quadratic Optimization with Reinforcement Learning. CoRR abs/2107.10847 (2021)
[i69]
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  - journals/corr/abs-2108-11355
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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. CoRR abs/2108.11355 (2021)
[i68]
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  - journals/corr/abs-2109-08273
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Ryan Hoque, Ashwin Balakrishna, Ellen R. Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg:
ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning. CoRR abs/2109.08273 (2021)
[i67]
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  - journals/corr/abs-2110-14217
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Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg:
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects. CoRR abs/2110.14217 (2021)
[i66]
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  - journals/corr/abs-2110-15326
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Jeffrey Ichnowski, Yahav Avigal, Yi Liu, Ken Goldberg:
GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport. CoRR abs/2110.15326 (2021)
[i65]
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  - journals/corr/abs-2111-01391
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Chung Min Kim, Michael Danielczuk, Isabella Huang, Ken Goldberg:
Simulation of Parallel-Jaw Grasping using Incremental Potential Contact Models. CoRR abs/2111.01391 (2021)
[i64]
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  - journals/corr/abs-2111-04814
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Vincent Lim, Huang Huang, Lawrence Yunliang Chen, Jonathan Wang, Jeffrey Ichnowski, Daniel Seita, Michael Laskey, Ken Goldberg:
Planar Robot Casting with Real2Sim2Real Self-Supervised Learning. CoRR abs/2111.04814 (2021)
[i63]
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  - journals/corr/abs-2111-15002
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Letian Fu, Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Jeffrey Ichnowski, Eugen Solowjow, Ken Goldberg:
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping. CoRR abs/2111.15002 (2021)
[i62]
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  - journals/corr/abs-2112-03575
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  - https://dblp.org/rec/journals/corr/abs-2112-03575
Michael Luo, Ashwin Balakrishna, Brijen Thananjeyan, Suraj Nair, Julian Ibarz, Jie Tan, Chelsea Finn, Ion Stoica, Ken Goldberg:
MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance. CoRR abs/2112.03575 (2021)
[i61]
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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. CoRR abs/2112.04071 (2021)
2020
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Alexander S. Rich, Cynthia Rudin, David M. P. Jacoby, Robin Freeman, Oliver R. Wearn, Henry Shevlin, Kanta Dihal, Seán S. ÓhÉigeartaigh, James Butcher, Marco Lippi, Przemyslaw Palka, Paolo Torroni, Shannon Wongvibulsin, Edmon Begoli, Gisbert Schneider, Stephen Cave, Mona Sloane, Emanuel Moss, Iyad Rahwan, Ken Goldberg, David Howard, Luciano Floridi, Jack Stilgoe:
AI reflections in 2019. Nat. Mach. Intell. 2(1): 2-9 (2020)
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Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg:
Safety Augmented Value Estimation From Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks. IEEE Robotics Autom. Lett. 5(2): 3612-3619 (2020)
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Ajay Kumar Tanwani, Raghav Anand, Joseph E. Gonzalez, Ken Goldberg:
RILaaS: Robot Inference and Learning as a Service. IEEE Robotics Autom. Lett. 5(3): 4423-4430 (2020)
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Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg:
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Fiducial Sensing and Recurrent Neural Networks. IEEE Robotics Autom. Lett. 5(4): 5937-5944 (2020)
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  - journals/scirobotics/NelsonMCCCDGIJK20
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Guang-Zhong Yang, Bradley J. Nelson, Robin R. Murphy, Howie Choset, Henrik I. Christensen, Steven H. Collins, Paolo Dario, Ken Goldberg, Koji Ikuta, Neil Jacobstein, Danica Kragic, Russell H. Taylor, Marcia McNutt:
Combating COVID-19 - The role of robotics in managing public health and infectious diseases. Sci. Robotics 5(40): 5589 (2020)
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Jeffrey Ichnowski, Yahav Avigal, Vishal Satish, Ken Goldberg:
Deep learning can accelerate grasp-optimized motion planning. Sci. Robotics 5(48): 7710 (2020)
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Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin:
Multirobot Routing Algorithms for Robots Operating in Vineyards. IEEE Trans Autom. Sci. Eng. 17(3): 1184-1194 (2020)
[c235]
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Ching-An Cheng, Jonathan Lee, Ken Goldberg, Byron Boots:
Online Learning with Continuous Variations: Dynamic Regret and Reductions. AISTATS 2020: 2218-2228
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  - conf/case/SongTIDSCOG20
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Jingyi Song, Ajay Kumar Tanwani, Jeffrey Ichnowski, Michael Danielczuk, Kate Sanders, Jackson Chui, Juan Aparicio Ojea, Ken Goldberg:
Robust Task-Based Grasping as a Service. CASE 2020: 22-28
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  - conf/case/SolowjowUSAMSGC20
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Eugen Solowjow, Ines Ugalde, Yash Shahapurkar, Juan Aparicio, Jeffrey Mahler, Vishal Satish, Ken Goldberg, Heiko Claussen:
Industrial Robot Grasping with Deep Learning using a Programmable Logic Controller (PLC). CASE 2020: 97-103
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Han Yu Li, Michael Danielczuk, Ashwin Balakrishna, Vishal Satish, Ken Goldberg:
Accelerating Grasp Exploration by Leveraging Learned Priors. CASE 2020: 110-117
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Yahav Avigal, Jensen Gao, William Wong, Kevin Li, Grady Pierroz, Fang Shuo Deng, Mark Theis, Mark Presten, Ken Goldberg:
Simulating Polyculture Farming to Tune Automation Policies for Plant Diversity and Precision Irrigation. CASE 2020: 238-245
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  - conf/case/SandersDMTG20
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Kate Sanders, Michael Danielczuk, Jeffrey Mahler, Ajay Kumar Tanwani, Ken Goldberg:
Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking. CASE 2020: 1141-1148
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  - conf/case/LiDG20
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Andrew Li, Michael Danielczuk, Ken Goldberg:
One-Shot Shape-Based Amodal-to-Modal Instance Segmentation. CASE 2020: 1375-1382
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  - conf/case/DevgonIBZG20
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Shivin Devgon, Jeffrey Ichnowski, Ashwin Balakrishna, Harry Zhang, Ken Goldberg:
Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms. CASE 2020: 1453-1460
[c227]
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Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Ken Goldberg:
Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects. CoRL 2020: 377-393
[c226]
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Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Vainavi Viswanath, Michael Laskey, Joseph Gonzalez, Ken Goldberg:
Untangling Dense Knots by Learning Task-Relevant Keypoints. CoRL 2020: 782-800
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  - conf/icra/ZhangIAGSG20
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Harry Zhang, Jeffrey Ichnowski, Yahav Avigal, Joseph Gonzalez, Ion Stoica, Ken Goldberg:
Dex-Net AR: Distributed Deep Grasp Planning Using a Commodity Cellphone and Augmented Reality App. ICRA 2020: 552-558
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Jingyi Xu, Michael Danielczuk, Jeffrey Ichnowski, Jeffrey Mahler, Eckehard G. Steinbach, Ken Goldberg:
Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects. ICRA 2020: 1546-1552
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  - conf/icra/TanwaniSYAPG20
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Ajay Kumar Tanwani, Pierre Sermanet, Andy Yan, Raghav Anand, Mariano Phielipp, Ken Goldberg:
Motion2Vec: Semi-Supervised Representation Learning from Surgical Videos. ICRA 2020: 2174-2181
[c222]
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  - conf/icra/IchnowskiLMPAGS20
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Jeffrey Ichnowski, William Lee, Victor Murta, Samuel Paradis, Ron Alterovitz, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg:
Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing. ICRA 2020: 4232-4238
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Jeffrey Ichnowski, Michael Danielczuk, Jingyi Xu, Vishal Satish, Ken Goldberg:
GOMP: Grasp-Optimized Motion Planning for Bin Picking. ICRA 2020: 5270-5277
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Jingyi Xu, Michael Danielczuk, Eckehard G. Steinbach, Ken Goldberg:
6DFC: Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones. ICRA 2020: 7891-7897
[c219]
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Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg:
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data. ICRA 2020: 9411-9418
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Michael Danielczuk, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg:
X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions. IROS 2020: 9577-9584
[c217]
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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 F. Canny, Ken Goldberg:
Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor. IROS 2020: 9651-9658
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Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg:
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot. ISMR 2020: 22-29
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  - conf/rss/HoqueSBGTJYIG20
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Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg:
VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation. Robotics: Science and Systems 2020
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  - conf/wafr/2016
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Ken Goldberg, Pieter Abbeel, Kostas E. Bekris, Lauren Miller:
Algorithmic Foundations of Robotics XII, Proceedings of the Twelfth Workshop on the Algorithmic Foundations of Robotics, WAFR 2016, San Francisco, California, USA, December 18-20, 2016. Springer Proceedings in Advanced Robotics 13, Springer 2020, ISBN 978-3-030-43088-7 [contents]
[i60]
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Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg:
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot. CoRR abs/2002.06302 (2020)
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  - journals/corr/abs-2003-01410
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Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg:
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. CoRR abs/2003.01410 (2020)
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  - journals/corr/abs-2003-01835
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Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg:
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data. CoRR abs/2003.01835 (2020)
[i57]
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  - journals/corr/abs-2003-02401
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Jeffrey Ichnowski, Michael Danielczuk, Jingyi Xu, Vishal Satish, Ken Goldberg:
GOMP: Grasp-Optimized Motion Planning for Bin Picking. CoRR abs/2003.02401 (2020)
[i56]
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  - journals/corr/abs-2003-08520
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Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg:
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation. CoRR abs/2003.08520 (2020)
[i55]
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  - journals/corr/abs-2003-09044
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Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg:
VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation. CoRR abs/2003.09044 (2020)
[i54]
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  - journals/corr/abs-2003-12698
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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:
Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images. CoRR abs/2003.12698 (2020)
[i53]
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  - journals/corr/abs-2004-09039
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Michael Danielczuk, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg:
X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions. CoRR abs/2004.09039 (2020)
[i52]
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  - journals/corr/abs-2004-10251
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Eugen Solowjow, Ines Ugalde, Yash Shahapurkar, Juan Aparicio, Jeffrey Mahler, Vishal Satish, Ken Goldberg, Heiko Claussen:
Industrial Robot Grasping with Deep Learning using a Programmable Logic Controller (PLC). CoRR abs/2004.10251 (2020)
[i51]
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  - journals/corr/abs-2006-00545
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Ajay Kumar Tanwani, Pierre Sermanet, Andy Yan, Raghav Anand, Mariano Phielipp, Ken Goldberg:
Motion2Vec: Semi-Supervised Representation Learning from Surgical Videos. CoRR abs/2006.00545 (2020)
[i50]
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  - journals/corr/abs-2007-10420
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Kate Sanders, Michael Danielczuk, Jeffrey Mahler, Ajay Kumar Tanwani, Ken Goldberg:
Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking. CoRR abs/2007.10420 (2020)
[i49]
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  - journals/corr/abs-2009-09408
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Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin:
Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores. CoRR abs/2009.09408 (2020)
[i48]
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  - journals/corr/abs-2010-04339
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Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Ryan Hoque, Joseph E. Gonzalez, Ken Goldberg:
MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects. CoRR abs/2010.04339 (2020)
[i47]
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  - journals/corr/abs-2010-15920
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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. CoRR abs/2010.15920 (2020)
[i46]
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  - journals/corr/abs-2011-00330
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Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez:
Resource Allocation in Multi-armed Bandit Exploration: Overcoming Nonlinear Scaling with Adaptive Parallelism. CoRR abs/2011.00330 (2020)
[i45]
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  - journals/corr/abs-2011-04840
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Harry Zhang, Jeffrey Ichnowski, Daniel Seita, Jonathan Wang, Ken Goldberg:
Robots of the Lost Arc: Learning to Dynamically Manipulate Fixed-Endpoint Ropes and Cables. CoRR abs/2011.04840 (2020)
[i44]
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  - journals/corr/abs-2011-04999
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Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg:
Untangling Dense Knots by Learning Task-Relevant Keypoints. CoRR abs/2011.04999 (2020)
[i43]
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  - journals/corr/abs-2011-05632
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Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Shivin Devgon, Ken Goldberg:
Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects. CoRR abs/2011.05632 (2020)
[i42]
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  - journals/corr/abs-2011-05661
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Han Yu Li, Michael Danielczuk, Ashwin Balakrishna, Vishal Satish, Ken Goldberg:
Accelerating Grasp Exploration by Leveraging Learned Priors. CoRR abs/2011.05661 (2020)
[i41]
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  - journals/corr/abs-2011-06163
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Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg:
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation. CoRR abs/2011.06163 (2020)
[i40]
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  - journals/corr/abs-2011-11696
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Huang Huang, Marcus Dominguez-Kuhne, Jeffrey Ichnowski, Vishal Satish, Michael Danielczuk, Kate Sanders, Andrew Lee, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg:
Mechanical Search on Shelves using Lateral Access X-RAY. CoRR abs/2011.11696 (2020)
[i39]
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  - journals/corr/abs-2012-03385
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Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng:
Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks. CoRR abs/2012.03385 (2020)
[i38]
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  - journals/corr/abs-2012-03806
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Sebastian Höfer, Kostas E. Bekris, Ankur Handa, Juan Camilo Gamboa Higuera, Florian Golemo, Melissa Mozifian, Christopher G. Atkeson, Dieter Fox, Ken Goldberg, John Leonard, C. Karen Liu, Jan Peters, Shuran Song, Peter Welinder, Martha White:
Perspectives on Sim2Real Transfer for Robotics: A Summary of the R: SS 2020 Workshop. CoRR abs/2012.03806 (2020)
[i37]
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  - journals/corr/abs-2012-04060
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Andrey Kurenkov, Roberto Martín-Martín, Jeffrey Ichnowski, Ken Goldberg, Silvio Savarese:
Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search. CoRR abs/2012.04060 (2020)
[i36]
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  - journals/corr/abs-2012-12844
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Minho Hwang, Brijen Thananjeyan, Daniel Seita, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg:
Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks. CoRR abs/2012.12844 (2020)

2010 – 2019

see FAQ

What is the meaning of the colors in the publication lists?

2019
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Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, Ken Goldberg:
SWIRL: A sequential windowed inverse reinforcement learning algorithm for robot tasks with delayed rewards. Int. J. Robotics Res. 38(2-3) (2019)
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Mo Zhou, Yoshimi Fukuoka, Ken Goldberg, Eric Vittinghoff, Anil Aswani:
Applying machine learning to predict future adherence to physical activity programs. BMC Medical Informatics Decis. Mak. 19(1): 169:1-169:11 (2019)
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Ken Goldberg:
Robots and the return to collaborative intelligence. Nat. Mach. Intell. 1(1): 2-4 (2019)
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  - journals/ral/SatishMG19
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Vishal Satish, Jeffrey Mahler, Ken Goldberg:
On-Policy Dataset Synthesis for Learning Robot Grasping Policies Using Fully Convolutional Deep Networks. IEEE Robotics Autom. Lett. 4(2): 1357-1364 (2019)
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  - journals/scirobotics/MatlSDDMG19
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Matthew Matl, Vishal Satish, Michael Danielczuk, Bill DeRose, Stephen McKinley, Ken Goldberg:
Learning ambidextrous robot grasping policies. Sci. Robotics 4(26) (2019)
[c214]
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  - conf/ACMdis/ShlainG19
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Tiffany Shlain, Ken Goldberg:
Screen Smashing: Iconoclasty in an Age of Illusionary Intelligence (Sheridan See C&C'19 id# cckn07dis for correct DOI & pdf). Conference on Designing Interactive Systems 2019: 5
[c213]
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Tiffany Shlain, Ken Goldberg:
Screen Smashing: Iconoclasty in an Age of Illusionary Intelligence. Creativity & Cognition 2019: 258
[c212]
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  - conf/case/FoxBSG19
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Roy Fox, Ron Berenstein, Ion Stoica, Ken Goldberg:
Multi-Task Hierarchical Imitation Learning for Home Automation. CASE 2019: 1-8
[c211]
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  - conf/case/SundaresanTCFG19
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Priya Sundaresan, Brijen Thananjeyan, Johnathan Chiu, Danyal Fer, Ken Goldberg:
Automated Extraction of Surgical Needles from Tissue Phantoms. CASE 2019: 170-177
[c210]
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  - conf/case/WangTLJGDMIG19
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David Wang, David Tseng, Pusong Li, Yiding Jiang, Menglong Guo, Michael Danielczuk, Jeffrey Mahler, Jeffrey Ichnowski, Ken Goldberg:
Adversarial Grasp Objects. CASE 2019: 241-248
[c209]
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  - conf/case/StaubTMBLTBSG19
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Benno Staub, Ajay Kumar Tanwani, Jeffrey Mahler, Michel Breyer, Michael Laskey, Yutaka Takaoka, Max Bajracharya, Roland Siegwart, Ken Goldberg:
Dex-Net MM: Deep Grasping for Surface Decluttering with a Low-Precision Mobile Manipulator. CASE 2019: 1373-1379
[c208]
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  - conf/case/CorreaMDG19
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Christopher Correa, Jeffrey Mahler, Michael Danielczuk, Ken Goldberg:
Robust Toppling for Vacuum Suction Grasping. CASE 2019: 1421-1428
[c207]
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  - conf/case/DongKDBDG19
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Zisu Dong, Sanjay Krishnan, Sona Dolasia, Ashwin Balakrishna, Michael Danielczuk, Ken Goldberg:
Automating Planar Object Singulation by Linear Pushing with Single-point and Multi-point Contacts. CASE 2019: 1429-1436
[c206]
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  - conf/case/ThayerVGC19
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Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin:
Bi-Objective Routing for Robotic Irrigation and Sampling in Vineyards. CASE 2019: 1481-1488
[c205]
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  - conf/case/WiggertABCVVG19
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Marius Wiggert, Leela Amladi, Ron Berenstein, Stefano Carpin, Joshua Viers, Stavros Vougioukas, Ken Goldberg:
RAPID-MOLT: A Meso-scale, Open-source, Low-cost Testbed for Robot Assisted Precision Irrigation and Delivery. CASE 2019: 1489-1496
[c204]
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Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin:
Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores. CASE 2019: 1603-1610
[c203]
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  - conf/corl/BalakrishnaTLLZ19
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Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Felix Li, Arsh Zahed, Joseph E. Gonzalez, Ken Goldberg:
On-Policy Robot Imitation Learning from a Converging Supervisor. CoRL 2019: 24-41
[c202]
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  - conf/icra/DanielczukKBMWM19
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Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martín-Martín, Animesh Garg, Silvio Savarese, Ken Goldberg:
Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter. ICRA 2019: 1614-1621
[c201]
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Nan Tian, Ajay Kumar Tanwani, Jinfa Chen, Mas Ma, Robert Zhang, Bill Huang, Ken Goldberg, Somayeh Sojoudi:
A Fog Robotic System for Dynamic Visual Servoing. ICRA 2019: 1982-1988
[c200]
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  - conf/icra/TanwaniMKGG19
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Ajay Kumar Tanwani, Nitesh Mor, John Kubiatowicz, Joseph E. Gonzalez, Ken Goldberg:
A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering. ICRA 2019: 4559-4566
[c199]
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Michael Danielczuk, Matthew Matl, Saurabh Gupta, Andrew Li, Andrew Lee, Jeffrey Mahler, Ken Goldberg:
Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data. ICRA 2019: 7283-7290
[c198]
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  - conf/iros/VaravaWMGKP19
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Anastasiia Varava, Michael C. Welle, Jeffrey Mahler, Ken Goldberg, Danica Kragic, Florian T. Pokomy:
Partial Caging: A Clearance-Based Definition and Deep Learning. IROS 2019: 1533-1540
[c197]
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Brijen Thananjeyan, Ajay Kumar Tanwani, Jessica J. Ji, Danyal Fer, Vatsal Patel, Sanjay Krishnan, Ken Goldberg:
Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities. ISMR 2019: 1-7
[c196]
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  - conf/isrr/SeitaJLTBBICG19
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Daniel Seita, Nawid Jamali, Michael Laskey, Ajay Kumar Tanwani, Ron Berenstein, Prakash Baskaran, Soshi Iba, John F. Canny, Ken Goldberg:
Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making. ISRR 2019: 275-290
[c195]
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  - conf/isrr/DanielczukXMMCG19
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Michael Danielczuk, Jingyi Xu, Jeffrey Mahler, Matthew Matl, Nuttapong Chentanez, Ken Goldberg:
REACH: Reducing False Negatives in Robot Grasp Planning with a Robust Efficient Area Contact Hypothesis Model. ISRR 2019: 757-772
[c194]
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Nan Tian, Ajay Kumar Tanwani, Ken Goldberg, Somayeh Sojoudi:
Mitigating Network Latency in Cloud-Based Teleoperation Using Motion Segmentation and Synthesis. ISRR 2019: 906-921
[i35]
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  - journals/corr/abs-1902-07286
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Ching-An Cheng, Jonathan Lee, Ken Goldberg, Byron Boots:
Online Learning with Continuous Variations: Dynamic Regret and Reductions. CoRR abs/1902.07286 (2019)
[i34]
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  - journals/corr/abs-1903-01588
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Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martín-Martín, Animesh Garg, Silvio Savarese, Ken Goldberg:
Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter. CoRR abs/1903.01588 (2019)
[i33]
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  - journals/corr/abs-1903-09589
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Ajay Kumar Tanwani, Nitesh Mor, John Kubiatowicz, Joseph E. Gonzalez, Ken Goldberg:
A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering. CoRR abs/1903.09589 (2019)
[i32]
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  - journals/corr/abs-1905-13402
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Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg:
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations. CoRR abs/1905.13402 (2019)
[i31]
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  - journals/corr/abs-1907-03423
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Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Arsh Zahed, Felix Li, Joseph E. Gonzalez, Ken Goldberg:
On-Policy Robot Imitation Learning from a Converging Supervisor. CoRR abs/1907.03423 (2019)
[i30]
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  - journals/corr/abs-1909-11226
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Jingyi Xu, Michael Danielczuk, Jeffrey Ichnowski, Jeffrey Mahler, Eckehard G. Steinbach, Ken Goldberg:
Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects. CoRR abs/1909.11226 (2019)
[i29]
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  - journals/corr/abs-1910-04854
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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 F. Canny, Ken Goldberg:
Deep Imitation Learning of Sequential Fabric Smoothing Policies. CoRR abs/1910.04854 (2019)
[i28]
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  - journals/corr/abs-1912-01261
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Jonathan Lee, Ching-An Cheng, Ken Goldberg, Byron Boots:
Continuous Online Learning and New Insights to Online Imitation Learning. CoRR abs/1912.01261 (2019)
[i27]
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  - journals/corr/abs-1912-12612
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Roy Fox, Richard Shin, William Paul, Yitian Zou, Dawn Song, Ken Goldberg, Pieter Abbeel, Ion Stoica:
Hierarchical Variational Imitation Learning of Control Programs. CoRR abs/1912.12612 (2019)
2018
[j75]
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  - journals/tase/MahlerPNG18
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Jeffrey Mahler, Florian T. Pokorny, Sherdil Niyaz, Ken Goldberg:
Synthesis of Energy-Bounded Planar Caging Grasps Using Persistent Homology. IEEE Trans Autom. Sci. Eng. 15(3): 908-918 (2018)
[j74]
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Jeffrey Mahler, Robert Platt Jr., Alberto Rodriguez, Matei T. Ciocarlie, Aaron M. Dollar, Renaud Detry, Máximo A. Roa, Holly A. Yanco, Adam Norton, Joe Falco, Karl Van Wyk, Elena Messina, Jürgen Leitner, Douglas Morrison, Matthew T. Mason, Oliver Brock, Lael Odhner, Andrey Kurenkov, Matthew Matl, Ken Goldberg:
Guest Editorial Open Discussion of Robot Grasping Benchmarks, Protocols, and Metrics. IEEE Trans Autom. Sci. Eng. 15(4): 1440-1442 (2018)
[c193]
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Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin:
Multi-Robot Routing Algorithms for Robots Operating in Vineyards. CASE 2018: 14-21
[c192]
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  - conf/case/JiKPFG18
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Jessica J. Ji, Sanjay Krishnan, Vatsal Patel, Danyal Fer, Ken Goldberg:
Learning 2D Surgical Camera Motion From Demonstrations. CASE 2018: 35-42
[c191]
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  - conf/case/LeeLFG18
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Jonathan Lee, Michael Laskey, Roy Fox, Ken Goldberg:
Constraint Estimation and Derivative-Free Recovery for Robot Learning from Demonstrations. CASE 2018: 270-277
[c190]
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  - conf/case/TsengWCMSVVCOG18
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David Tseng, David Wai-Lok Wang, Carolyn Chen, Lauren Miller, William Song, Joshua Viers, Stavros Vougioukas, Stefano Carpin, Juan Aparicio Ojea, Ken Goldberg:
Towards Automating Precision Irrigation: Deep Learning to Infer Local Soil Moisture Conditions from Synthetic Aerial Agricultural Images. CASE 2018: 284-291
[c189]
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  - conf/case/BerensteinWMCG18
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Ron Berenstein, Averell Wallach, Pelagie Elimbi Moudio, Peter Cuellar, Ken Goldberg:
An Open-Access Passive Modular Tool Changing System for Mobile Manipulation Robots. CASE 2018: 592-598
[c188]
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  - conf/case/ZhaoCCPLG18
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Hankun Zhao, Andrew Cui, Schuyler A. Cullen, Brian Paden, Michael Laskey, Ken Goldberg:
FLUIDS: A First-Order Lightweight Urban Intersection Driving Simulator. CASE 2018: 697-704
[c187]
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  - conf/case/DanielczukMCG18
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Michael Danielczuk, Jeffrey Mahler, Christopher Correa, Ken Goldberg:
Linear Push Policies to Increase Grasp Access for Robot Bin Picking. CASE 2018: 1249-1256
[c186]
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  - conf/case/RenWLG18
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Xinhe Ren, David Wang, Michael Laskey, Ken Goldberg:
Learning Traffic Behaviors by Extracting Vehicle Trajectories from Online Video Streams. CASE 2018: 1276-1283
[c185]
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  - conf/case/TianKRYZHGS18
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Nan Tian, Benjamin Kuo, Xinhe Ren, Michael Yu, Robert Zhang, Bill Huang, Ken Goldberg, Somayeh Sojoudi:
A Cloud-Based Robust Semaphore Mirroring System for Social Robots. CASE 2018: 1351-1358
[c184]
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Pusong Li, Bill DeRose, Jeffrey Mahler, Juan Aparicio Ojea, Ajay Kumar Tanwani, Ken Goldberg:
Dex-Net as a Service (DNaaS): A Cloud-Based Robust Robot Grasp Planning System. CASE 2018: 1420-1427
[c183]
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Brandie Nonnecke, Shrestha Mohanty, Andrew Lee, Jonathan Lee, Sequoia Beckman, Justin Mi, Thanatcha Panpairoj, Jeffrey Rosario Ancheta, Hilary Martinez, Nathaniel Oco, Rachel Edita Roxas, Camille Crittenden, Ken Goldberg:
Malasakit 2.0: A Participatory Online Platform with Feature Phone Integration and Voice Recognition for Crowdsourcing Disaster Risk Reduction Strategies in the Philippines. GHTC 2018: 1-6
[c182]
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Roy Fox, Richard Shin, Sanjay Krishnan, Ken Goldberg, Dawn Song, Ion Stoica:
Parametrized Hierarchical Procedures for Neural Programming. ICLR (Poster) 2018
[c181]
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Eric Liang, Richard Liaw, Robert Nishihara, Philipp Moritz, Roy Fox, Ken Goldberg, Joseph Gonzalez, Michael I. Jordan, Ion Stoica:
RLlib: Abstractions for Distributed Reinforcement Learning. ICML 2018: 3059-3068
[c180]
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Jeffrey Mahler, Matthew Matl, Xinyu Liu, Albert Li, David V. Gealy, Ken Goldberg:
Dex-Net 3.0: Computing Robust Vacuum Suction Grasp Targets in Point Clouds Using a New Analytic Model and Deep Learning. ICRA 2018: 1-8
[c179]
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Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi Chen, Ken Goldberg, Pieter Abbeel:
Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation. ICRA 2018: 1-8
[c178]
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Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin:
Routing Algorithms for Robot Assisted Precision Irrigation. ICRA 2018: 2221-2228
[c177]
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Ron Berenstein, Roy Fox, Stephen McKinley, Stefano Carpin, Ken Goldberg:
Robustly Adjusting Indoor Drip Irrigation Emitters with the Toyota HSR Robot. ICRA 2018: 2236-2243
[c176]
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Daniel Seita, Sanjay Krishnan, Roy Fox, Stephen McKinley, John F. Canny, Ken Goldberg:
Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure. ICRA 2018: 6651-6658
[c175]
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Benjamin W. McInroe, Carolyn L. Chen, Kenneth Y. Goldberg, Ruzena Bajcsy, Ronald S. Fearing:
Towards a Soft Fingertip with Integrated Sensing and Actuation. IROS 2018: 6437-6444
[c174]
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Vatsal Patel, Sanjay Krishnan, Aimee Goncalves, Carolyn Chen, Walter Doug Boyd, Ken Goldberg:
Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement. ISMR 2018: 1-6
[c173]
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Vatsal Patel, Sanjay Krishnan, Aimee Goncalves, Ken Goldberg:
SPRK: A low-cost stewart platform for motion study in surgical robotics. ISMR 2018: 1-6
[c172]
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Mo Zhou, Yonatan Mintz, Yoshimi Fukuoka, Ken Goldberg, Elena Flowers, Philip M. Kaminsky, Alejandro Castillejo, Anil Aswani:
Personalizing Mobile Fitness Apps using Reinforcement Learning. IUI Workshops 2018
[c171]
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Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, Sylvain Calinon:
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models. WAFR 2018: 196-211
[c170]
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Jonathan N. Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani, Ken Goldberg:
A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning. WAFR 2018: 212-227
[i26]
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  - journals/corr/abs-1801-10321
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Jonathan Lee, Michael Laskey, Roy Fox, Ken Goldberg:
Derivative-Free Failure Avoidance Control for Manipulation using Learned Support Constraints. CoRR abs/1801.10321 (2018)
[i25]
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  - journals/corr/abs-1808-03196
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Sanjay Krishnan, Zongheng Yang, Ken Goldberg, Joseph M. Hellerstein, Ion Stoica:
Learning to Optimize Join Queries With Deep Reinforcement Learning. CoRR abs/1808.03196 (2018)
[i24]
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  - journals/corr/abs-1809-05825
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Michael Danielczuk, Matthew Matl, Saurabh Gupta, Andrew Li, Andrew Lee, Jeffrey Mahler, Ken Goldberg:
Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Point Clouds. CoRR abs/1809.05825 (2018)
[i23]
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Nan Tian, Jinfa Chen, Mas Ma, Robert Zhang, Bill Huang, Ken Goldberg, Somayeh Sojoudi:
A Fog Robotic System for Dynamic Visual Servoing. CoRR abs/1809.06716 (2018)
[i22]
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Daniel Seita, Nawid Jamali, Michael Laskey, Ron Berenstein, Ajay Kumar Tanwani, Prakash Baskaran, Soshi Iba, John F. Canny, Ken Goldberg:
Robot Bed-Making: Deep Transfer Learning Using Depth Sensing of Deformable Fabric. CoRR abs/1809.09810 (2018)
[i21]
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  - journals/corr/abs-1811-02184
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Jonathan Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani, Ken Goldberg:
A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning. CoRR abs/1811.02184 (2018)
[i20]
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  - journals/corr/abs-1811-07489
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Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, Sylvain Calinon:
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models. CoRR abs/1811.07489 (2018)
2017
[j73]
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Sanjay Krishnan, Animesh Garg, Sachin Patil, Colin Lea, Gregory D. Hager, Pieter Abbeel, Ken Goldberg:
Transition state clustering: Unsupervised surgical trajectory segmentation for robot learning. Int. J. Robotics Res. 36(13-14): 1595-1618 (2017)
[c169]
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  - conf/case/LiangMLLG17
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Jacky Liang, Jeffrey Mahler, Michael Laskey, Pusong Li, Ken Goldberg:
Using dVRK teleoperation to facilitate deep learning of automation tasks for an industrial robot. CASE 2017: 1-8
[c168]
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Carolyn Chen, Sanjay Krishnan, Michael Laskey, Roy Fox, Ken Goldberg:
An algorithm and user study for teaching bilateral manipulation via iterated best response demonstrations. CASE 2017: 151-158
[c167]
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  - conf/case/KapadiaSJG17
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Rishi Kapadia, Sam Staszak, Lisa Jian, Ken Goldberg:
EchoBot: Facilitating data collection for robot learning with the Amazon echo. CASE 2017: 159-165
[c166]
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  - conf/case/MatlMG17
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Matthew Matl, Jeffrey Mahler, Ken Goldberg:
An algorithm for transferring parallel-jaw grasps between 3D mesh subsegments. CASE 2017: 756-763
[c165]
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  - conf/case/ChuckLKJFG17
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Caleb Chuck, Michael Laskey, Sanjay Krishnan, Ruta Joshi, Roy Fox, Ken Goldberg:
Statistical data cleaning for deep learning of automation tasks from demonstrations. CASE 2017: 1142-1149
[c164]
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Michael Laskey, Jonathan Lee, Roy Fox, Anca D. Dragan, Ken Goldberg:
DART: Noise Injection for Robust Imitation Learning. CoRL 2017: 143-156
[c163]
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Sanjay Krishnan, Roy Fox, Ion Stoica, Ken Goldberg:
DDCO: Discovery of Deep Continuous Options for Robot Learning from Demonstrations. CoRL 2017: 418-437
[c162]
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  - conf/corl/MahlerG17
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Jeffrey Mahler, Ken Goldberg:
Learning Deep Policies for Robot Bin Picking by Simulating Robust Grasping Sequences. CoRL 2017: 515-524
[c161]
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  - conf/ghtc/NonneckeMLLBMKR17
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Brandie Nonnecke, Shrestha Mohanty, Andrew Lee, Jonathan Lee, Sequoia Beckman, Justin Mi, Sanjay Krishnan, Rachel Edita Roxas, Nathaniel Oco, Camille Crittenden, Ken Goldberg:
Malasakit 1.0: A participatory online platform for crowdsourcing disaster risk reduction strategies in the philippines. GHTC 2017: 1-6
[c160]
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Ken Gorro, Jeffrey Rosario Ancheta, Kris Capao, Nathaniel Oco, Rachel Edita Roxas, Mary Jane Sabellano, Brandie Nonnecke, Shrestha Mohanty, Camille Crittenden, Ken Goldberg:
Qualitative data analysis of disaster risk reduction suggestions assisted by topic modeling and word2vec. IALP 2017: 293-297
[c159]
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  - conf/icra/LaskeyCLMKJDG17
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Michael Laskey, Caleb Chuck, Jonathan Lee, Jeffrey Mahler, Sanjay Krishnan, Kevin G. Jamieson, Anca D. Dragan, Ken Goldberg:
Comparing human-centric and robot-centric sampling for robot deep learning from demonstrations. ICRA 2017: 358-365
[c158]
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  - conf/icra/TianMMZSCZLZG17
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Nan Tian, Matthew Matl, Jeffrey Mahler, Yu Xiang Zhou, Samantha Staszak, Christopher Correa, Steven Zheng, Qiang Li, Robert Zhang, Ken Goldberg:
A cloud robot system using the dexterity network and berkeley robotics and automation as a service (Brass). ICRA 2017: 1615-1622
[c157]
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Brijen Thananjeyan, Animesh Garg, Sanjay Krishnan, Carolyn Chen, Lauren Miller, Ken Goldberg:
Multilateral surgical pattern cutting in 2D orthotropic gauze with deep reinforcement learning policies for tensioning. ICRA 2017: 2371-2378
[c156]
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Menglong Guo, David V. Gealy, Jacky Liang, Jeffrey Mahler, Aimee Goncalves, Stephen McKinley, Juan Aparicio Ojea, Ken Goldberg:
Design of parallel-jaw gripper tip surfaces for robust grasping. ICRA 2017: 2831-2838
[c155]
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  - conf/rss/MahlerLNLDLOG17
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Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, Ken Goldberg:
Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics. Robotics: Science and Systems 2017
[c154]
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  - conf/sigite/ZhouK0NCG17
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Mo Zhou, Sanjay Krishnan, Jay Patel, Brandie Nonnecke, Camille Crittenden, Ken Goldberg:
M-CAFE 2.0: A Scalable Platform with Comparative Plots and Topic Tagging for Ongoing Course Feedback. SIGITE 2017: 159-164
[i19]
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Roy Fox, Sanjay Krishnan, Ion Stoica, Ken Goldberg:
Multi-Level Discovery of Deep Options. CoRR abs/1703.08294 (2017)
[i18]
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Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, Ken Goldberg:
Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics. CoRR abs/1703.09312 (2017)
[i17]
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Michael Laskey, Jonathan Lee, Wesley Yu-Shu Hsieh, Richard Liaw, Jeffrey Mahler, Roy Fox, Ken Goldberg:
Iterative Noise Injection for Scalable Imitation Learning. CoRR abs/1703.09327 (2017)
[i16]
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  - journals/corr/abs-1709-06668
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Daniel Seita, Sanjay Krishnan, Roy Fox, Stephen McKinley, John F. Canny, Ken Goldberg:
Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure. CoRR abs/1709.06668 (2017)
[i15]
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  - journals/corr/abs-1709-06670
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Jeffrey Mahler, Matthew Matl, Xinyu Liu, Albert Li, David V. Gealy, Ken Goldberg:
Dex-Net 3.0: Computing Robust Robot Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning. CoRR abs/1709.06670 (2017)
[i14]
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  - journals/corr/abs-1710-04615
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Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Ken Goldberg, Pieter Abbeel:
Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation. CoRR abs/1710.04615 (2017)
[i13]
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  - journals/corr/abs-1710-05421
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Sanjay Krishnan, Roy Fox, Ion Stoica, Ken Goldberg:
DDCO: Discovery of Deep Continuous Options forRobot Learning from Demonstrations. CoRR abs/1710.05421 (2017)
[i12]
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  - journals/corr/abs-1711-01299
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Sanjay Krishnan, Michael J. Franklin, Ken Goldberg, Eugene Wu:
BoostClean: Automated Error Detection and Repair for Machine Learning. CoRR abs/1711.01299 (2017)
[i11]
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  - journals/corr/abs-1711-01503
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Richard Liaw, Sanjay Krishnan, Animesh Garg, Daniel Crankshaw, Joseph E. Gonzalez, Ken Goldberg:
Composing Meta-Policies for Autonomous Driving Using Hierarchical Deep Reinforcement Learning. CoRR abs/1711.01503 (2017)
[i10]
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  - journals/corr/abs-1711-02525
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Michael Laskey, Chris Powers, Ruta Joshi, Arshan Poursohi, Ken Goldberg:
Learning Robust Bed Making using Deep Imitation Learning with DART. CoRR abs/1711.02525 (2017)
[i9]
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  - journals/corr/abs-1712-02917
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Vatsal Patel, Sanjay Krishnan, Aimee Goncalves, Carolyn Chen, Walter Doug Boyd, Ken Goldberg:
Using Intermittent Synchronization to Compensate for Rhythmic Body Motion During Autonomous Surgical Cutting and Debridement. CoRR abs/1712.02917 (2017)
[i8]
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  - journals/corr/abs-1712-02923
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Vatsal Patel, Sanjay Krishnan, Aimee Goncalves, Ken Goldberg:
SPRK: A Low-Cost Stewart Platform For Motion Study In Surgical Robotics. CoRR abs/1712.02923 (2017)
[i7]
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  - journals/corr/abs-1712-05855
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Ion Stoica, Dawn Song, Raluca Ada Popa, David A. Patterson, Michael W. Mahoney, Randy H. Katz, Anthony D. Joseph, Michael I. Jordan, Joseph M. Hellerstein, Joseph E. Gonzalez, Ken Goldberg, Ali Ghodsi, David E. Culler, Pieter Abbeel:
A Berkeley View of Systems Challenges for AI. CoRR abs/1712.05855 (2017)
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Eric Liang, Richard Liaw, Robert Nishihara, Philipp Moritz, Roy Fox, Joseph Gonzalez, Ken Goldberg, Ion Stoica:
Ray RLLib: A Composable and Scalable Reinforcement Learning Library. CoRR abs/1712.09381 (2017)
2016
[j72]
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Sanjay Krishnan, Jiannan Wang, Eugene Wu, Michael J. Franklin, Ken Goldberg:
ActiveClean: Interactive Data Cleaning For Statistical Modeling. Proc. VLDB Endow. 9(12): 948-959 (2016)
[j71]
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Jeffrey Mahler, Florian T. Pokorny, Zoe McCarthy, A. Frank van der Stappen, Ken Goldberg:
Energy-Bounded Caging: Formal Definition and 2-D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes. IEEE Robotics Autom. Lett. 1(1): 508-515 (2016)
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Ken Goldberg:
Editorial Fine-Tuning T-ASE. IEEE Trans Autom. Sci. Eng. 13(1): 3 (2016)
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Ken Goldberg:
Editorial: "One Robot is Robotics, Ten Robots is Automation". IEEE Trans Autom. Sci. Eng. 13(4): 1418-1419 (2016)
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Animesh Garg, Siddarth Sen, Rishi Kapadia, Yiming Jen, Stephen McKinley, Lauren Miller, Ken Goldberg:
Tumor localization using automated palpation with Gaussian Process Adaptive Sampling. CASE 2016: 194-200
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Jeffrey Mahler, Brian Hou, Sherdil Niyaz, Florian T. Pokorny, Ramu Chandra, Ken Goldberg:
Privacy-preserving Grasp Planning in the Cloud. CASE 2016: 468-475
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Stephen McKinley, Animesh Garg, Siddarth Sen, David V. Gealy, Jonathan P. McKinley, Yiming Jen, Menglong Guo, Walter Doug Boyd, Ken Goldberg:
An interchangeable surgical instrument system with application to supervised automation of multilateral tumor resection. CASE 2016: 821-826
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Michael Laskey, Jonathan Lee, Caleb Chuck, David V. Gealy, Wesley Yu-Shu Hsieh, Florian T. Pokorny, Anca D. Dragan, Ken Goldberg:
Robot grasping in clutter: Using a hierarchy of supervisors for learning from demonstrations. CASE 2016: 827-834
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David V. Gealy, Stephen McKinley, Menglong Guo, Lauren Miller, Stavros Vougioukas, Joshua Viers, Stefano Carpin, Ken Goldberg:
DATE: A handheld co-robotic device for automated tuning of emitters to enable precision irrigation. CASE 2016: 922-927
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Florian T. Pokorny, Ken Goldberg, Danica Kragic:
Topological trajectory clustering with relative persistent homology. ICRA 2016: 16-23
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Florian T. Pokorny, Danica Kragic, Lydia E. Kavraki, Ken Goldberg:
High-dimensional Winding-Augmented Motion Planning with 2D topological task projections and persistent homology. ICRA 2016: 24-31
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Michael Laskey, Sam Staszak, Wesley Yu-Shu Hsieh, Jeffrey Mahler, Florian T. Pokorny, Anca D. Dragan, Ken Goldberg:
SHIV: Reducing supervisor burden in DAgger using support vectors for efficient learning from demonstrations in high dimensional state spaces. ICRA 2016: 462-469
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Jeffrey Mahler, Florian T. Pokorny, Brian Hou, Melrose Roderick, Michael Laskey, Mathieu Aubry, Kai Kohlhoff, Torsten Kröger, James J. Kuffner, Ken Goldberg:
Dex-Net 1.0: A cloud-based network of 3D objects for robust grasp planning using a Multi-Armed Bandit model with correlated rewards. ICRA 2016: 1957-1964
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Adithyavairavan Murali, Animesh Garg, Sanjay Krishnan, Florian T. Pokorny, Pieter Abbeel, Trevor Darrell, Ken Goldberg:
TSC-DL: Unsupervised trajectory segmentation of multi-modal surgical demonstrations with Deep Learning. ICRA 2016: 4150-4157
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Siddarth Sen, Animesh Garg, David V. Gealy, Stephen McKinley, Yiming Jen, Ken Goldberg:
Automating multi-throw multilateral surgical suturing with a mechanical needle guide and sequential convex optimization. ICRA 2016: 4178-4185
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Karol Hausman, Gregory Kahn, Sachin Patil, Jörg Müller, Ken Goldberg, Pieter Abbeel, Gaurav S. Sukhatme:
Occlusion-aware multi-robot 3D tracking. IROS 2016: 1863-1870
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Sanjay Krishnan, Jiannan Wang, Michael J. Franklin, Ken Goldberg, Tim Kraska:
PrivateClean: Data Cleaning and Differential Privacy. SIGMOD Conference 2016: 937-951
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Sanjay Krishnan, Michael J. Franklin, Ken Goldberg, Jiannan Wang, Eugene Wu:
ActiveClean: An Interactive Data Cleaning Framework For Modern Machine Learning. SIGMOD Conference 2016: 2117-2120
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Daniel Seita, Florian T. Pokorny, Jeffrey Mahler, Danica Kragic, Michael J. Franklin, John F. Canny, Kenneth Y. Goldberg:
Large-scale supervised learning of the grasp robustness of surface patch pairs. SIMPAR 2016: 216-223
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Jeffrey Mahler, Florian T. Pokorny, Sherdil Niyaz, Ken Goldberg:
Synthesis of Energy-Bounded Planar Caging Grasps using Persistent Homology. WAFR 2016: 416-431
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Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, Ken Goldberg:
SWIRL: A SequentialWindowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards. WAFR 2016: 672-687
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Dezhen Song, Kenneth Y. Goldberg, Nak Young Chong:
Networked Robots. Springer Handbook of Robotics, 2nd Ed. 2016: 1109-1134
[i5]
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Sanjay Krishnan, Jiannan Wang, Eugene Wu, Michael J. Franklin, Ken Goldberg:
ActiveClean: Interactive Data Cleaning While Learning Convex Loss Models. CoRR abs/1601.03797 (2016)
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Sanjay Krishnan, Animesh Garg, Richard Liaw, Lauren Miller, Florian T. Pokorny, Ken Goldberg:
HIRL: Hierarchical Inverse Reinforcement Learning for Long-Horizon Tasks with Delayed Rewards. CoRR abs/1604.06508 (2016)
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Pieter Abbeel, Ken Goldberg, Gregory D. Hager, Julie Shah:
Toward a Science of Autonomy for Physical Systems: Paths. CoRR abs/1609.05814 (2016)
[i2]
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Michael Laskey, Caleb Chuck, Jonathan Lee, Jeffrey Mahler, Sanjay Krishnan, Kevin G. Jamieson, Anca D. Dragan, Kenneth Y. Goldberg:
Comparing Human-Centric and Robot-Centric Sampling for Robot Deep Learning from Demonstrations. CoRR abs/1610.00850 (2016)
2015
[j68]
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Sanjay Krishnan, Jiannan Wang, Michael J. Franklin, Ken Goldberg, Tim Kraska, Tova Milo, Eugene Wu:
SampleClean: Fast and Reliable Analytics on Dirty Data. IEEE Data Eng. Bull. 38(3): 59-75 (2015)
[j67]
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Sanjay Krishnan, Jiannan Wang, Michael J. Franklin, Ken Goldberg, Tim Kraska:
Stale View Cleaning: Getting Fresh Answers from Stale Materialized Views. Proc. VLDB Endow. 8(12): 1370-1381 (2015)
[j66]
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Ken Goldberg, Youfu Li, Yu Sun, Maria Pia Fanti, Hesuan Hu:
Emerging Advances in Automation [From the Guest Editors]. IEEE Robotics Autom. Mag. 22(2): 22, 98 (2015)
[j65]
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Antonio Bicchi, Ken Goldberg, Eugenio Guglielmelli, Allison M. Okamura, Frank C. Park:
Navigating the New RAS Publications Landscape [From the Editors' Desks]. IEEE Robotics Autom. Mag. 22(4): 4 (2015)
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Aviv Adler, Fatemeh Panahi, A. Frank van der Stappen, Kenneth Y. Goldberg:
Efficient Proximity Probing Algorithms for Metrology. IEEE Trans Autom. Sci. Eng. 12(1): 84-95 (2015)
[j63]
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Ken Goldberg:
Editorial Multiplicity Has More Potential Than Singularity. IEEE Trans Autom. Sci. Eng. 12(2): 395 (2015)
[j62]
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Ben Kehoe, Sachin Patil, Pieter Abbeel, Ken Goldberg:
A Survey of Research on Cloud Robotics and Automation. IEEE Trans Autom. Sci. Eng. 12(2): 398-409 (2015)
[j61]
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Ben Kehoe, Deepak Warrier, Sachin Patil, Ken Goldberg:
Cloud-Based Grasp Analysis and Planning for Toleranced Parts Using Parallelized Monte Carlo Sampling. IEEE Trans Autom. Sci. Eng. 12(2): 455-470 (2015)
[j60]
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Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg:
Planning Curvature and Torsion Constrained Ribbons in 3D With Application to Intracavitary Brachytherapy. IEEE Trans Autom. Sci. Eng. 12(4): 1332-1345 (2015)
[j59]
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Kenneth Y. Goldberg, Siamak Faridani, Ron Alterovitz:
Two Large Open-Access Datasets for Fitts' Law of Human Motion and a Succinct Derivation of the Square-Root Variant. IEEE Trans. Hum. Mach. Syst. 45(1): 62-73 (2015)
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Michael Laskey, Jeffrey Mahler, Zoe McCarthy, Florian T. Pokorny, Sachin Patil, Jur P. van den Berg, Danica Kragic, Pieter Abbeel, Ken Goldberg:
Multi-armed bandit models for 2D grasp planning with uncertainty. CASE 2015: 572-579
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Stephen McKinley, Animesh Garg, Siddarth Sen, Rishi Kapadia, Adithyavairavan Murali, Kirk A. Nichols, Susan Lim, Sachin Patil, Pieter Abbeel, Allison M. Okamura, Ken Goldberg:
A single-use haptic palpation probe for locating subcutaneous blood vessels in robot-assisted minimally invasive surgery. CASE 2015: 1151-1158
[c134]
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Brandie Nonnecke, Sanjay Krishnan, Jay Patel, Mo Zhou, Laura Byaruhanga, Dorothy Masinde, Maria Elena Meneses, Alejandro Martin del Campo, Camille Crittenden, Kenneth Y. Goldberg:
DevCAFE 1.0: A participatory platform for assessing development initiatives in the field. GHTC 2015: 437-444
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Colin Ho, Jonathan Kim, Sachin Patil, Ken Goldberg:
The Slip-Pad: A haptic display using interleaved belts to simulate lateral and rotational slip. World Haptics 2015: 189-195
[c132]
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Adithyavairavan Murali, Siddarth Sen, Ben Kehoe, Animesh Garg, Seth McFarland, Sachin Patil, W. Douglas Boyd, Susan Lim, Pieter Abbeel, Kenneth Y. Goldberg:
Learning by observation for surgical subtasks: Multilateral cutting of 3D viscoelastic and 2D Orthotropic Tissue Phantoms. ICRA 2015: 1202-1209
[c131]
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Gregory Kahn, Peter Sujan, Sachin Patil, Shaunak D. Bopardikar, Julian Ryde, Kenneth Y. Goldberg, Pieter Abbeel:
Active exploration using trajectory optimization for robotic grasping in the presence of occlusions. ICRA 2015: 4783-4790
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Jeffrey Mahler, Sachin Patil, Ben Kehoe, Jur van den Berg, Matei T. Ciocarlie, Pieter Abbeel, Ken Goldberg:
GP-GPIS-OPT: Grasp planning with shape uncertainty using Gaussian process implicit surfaces and Sequential Convex Programming. ICRA 2015: 4919-4926
[c129]
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Kamran Shamaei, Yuhang Che, Adithyavairavan Murali, Siddarth Sen, Sachin Patil, Ken Goldberg, Allison M. Okamura:
A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks. IROS 2015: 1434-1439
[c128]
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Kirk A. Nichols, Adithyavairavan Murali, Siddarth Sen, Ken Goldberg, Allison M. Okamura:
Models of human-centered automation in a debridement task. IROS 2015: 5784-5789
[c127]
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Sanjay Krishnan, Animesh Garg, Sachin Patil, Colin Lea, Gregory D. Hager, Pieter Abbeel, Ken Goldberg:
Transition State Clustering: Unsupervised Surgical Trajectory Segmentation for Robot Learning. ISRR (2) 2015: 91-110
[c126]
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Mo Zhou, Alison Cliff, Allen Huang, Sanjay Krishnan, Brandie Nonnecke, Kanji Uchino, Samuel Joseph, Armando Fox, Ken Goldberg:
M-CAFE: Managing MOOC Student Feedback with Collaborative Filtering. L@S 2015: 309-312
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Jay Patel, Gil Gershoni, Sanjay Krishnan, Matti Nelimarkka, Brandie Nonnecke, Ken Goldberg:
A Case Study in Mobile-Optimized vs. Responsive Web Application Design. MobileHCI Adjunct 2015: 576-581
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Benjamin Charrow, Gregory Kahn, Sachin Patil, Sikang Liu, Ken Goldberg, Pieter Abbeel, Nathan Michael, Vijay Kumar:
Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping. Robotics: Science and Systems 2015
[c123]
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Mo Zhou, Alison Cliff, Sanjay Krishnan, Brandie Nonnecke, Camille Crittenden, Kanji Uchino, Ken Goldberg:
M-CAFE 1.0: Motivating and Prioritizing Ongoing Student Feedback During MOOCs and Large on-Campus Courses using Collaborative Filtering. SIGITE 2015: 153-158
[i1]
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Sanjay Krishnan, Jiannan Wang, Michael J. Franklin, Ken Goldberg, Tim Kraska:
Stale View Cleaning: Getting Fresh Answers from Stale Materialized Views. CoRR abs/1509.07454 (2015)
2014
[j58]
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Roni Stern, Ariel Felner, Jur van den Berg, Rami Puzis, Rajat Shah, Ken Goldberg:
Potential-based bounded-cost search and Anytime Non-Parametric A^*. Artif. Intell. 214: 1-25 (2014)
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John Schulman, Yan Duan, Jonathan Ho, Alex X. Lee, Ibrahim Awwal, Henry Bradlow, Jia Pan, Sachin Patil, Ken Goldberg, Pieter Abbeel:
Motion planning with sequential convex optimization and convex collision checking. Int. J. Robotics Res. 33(9): 1251-1270 (2014)
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Animesh Garg, Timmy Siauw, Guang Yang, Sachin Patil, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Alper Atamtürk, Kenneth Y. Goldberg:
Exact reachability analysis for planning skew-line needle arrangements for automated brachytherapy. CASE 2014: 524-531
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Jeffrey Mahler, Sanjay Krishnan, Michael Laskey, Siddarth Sen, Adithyavairavan Murali, Ben Kehoe, Sachin Patil, Jiannan Wang, Mike Franklin, Pieter Abbeel, Kenneth Y. Goldberg:
Learning accurate kinematic control of cable-driven surgical robots using data cleaning and Gaussian Process Regression. CASE 2014: 532-539
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Ben Kehoe, Gregory Kahn, Jeffrey Mahler, Jonathan Kim, Alex X. Lee, Anna Lee, Keisuke Nakagawa, Sachin Patil, W. Douglas Boyd, Pieter Abbeel, Kenneth Y. Goldberg:
Autonomous multilateral debridement with the Raven surgical robot. ICRA 2014: 1432-1439
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Yan Duan, Sachin Patil, John Schulman, Kenneth Y. Goldberg, Pieter Abbeel:
Planning locally optimal, curvature-constrained trajectories in 3D using sequential convex optimization. ICRA 2014: 5889-5895
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Sachin Patil, Yan Duan, John Schulman, Ken Goldberg, Pieter Abbeel:
Gaussian belief space planning with discontinuities in sensing domains. ICRA 2014: 6483-6490
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Sanjay Krishnan, Jay Patel, Michael J. Franklin, Ken Goldberg:
A methodology for learning, analyzing, and mitigating social influence bias in recommender systems. RecSys 2014: 137-144
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Jiannan Wang, Sanjay Krishnan, Michael J. Franklin, Ken Goldberg, Tim Kraska, Tova Milo:
A sample-and-clean framework for fast and accurate query processing on dirty data. SIGMOD Conference 2014: 469-480
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Sachin Patil, Gregory Kahn, Michael Laskey, John Schulman, Ken Goldberg, Pieter Abbeel:
Scaling up Gaussian Belief Space Planning Through Covariance-Free Trajectory Optimization and Automatic Differentiation. WAFR 2014: 515-533
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Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg:
Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy. WAFR 2014: 535-552
2013
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G. Ayorkor Korsah, Ken Goldberg:
The African Robotics Network and the 10 Dollar Robot Design Challenge [Society News]. IEEE Robotics Autom. Mag. 20(1): 116-118 (2013)
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Ken Goldberg:
In Memoriam Richard A. (Dick) Volz. IEEE Trans Autom. Sci. Eng. 10(4): 839 (2013)
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Animesh Garg, Timmy Siauw, Dmitry Berenson, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg:
Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy. IEEE Trans Autom. Sci. Eng. 10(4): 948-956 (2013)
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Fatemeh Panahi, Aviv Adler, A. Frank van der Stappen, Ken Goldberg:
An efficient proximity probing algorithm for metrology. CASE 2013: 342-349
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Animesh Garg, Sachin Patil, Timmy Siauw, J. Adam M. Cunha, I-Chow Hsu, Pieter Abbeel, Jean Pouliot, Ken Goldberg:
An algorithm for computing customized 3D printed implants with curvature constrained channels for enhancing intracavitary brachytherapy radiation delivery. CASE 2013: 466-473
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Kenneth Y. Goldberg:
Putting the turing into manufacturing: recent developments in algorithmic automation. SoCG 2013: 277-280
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Ben Kehoe, Akihiro Matsukawa, Sal Candido, James Kuffner, Ken Goldberg:
Cloud-based robot grasping with the google object recognition engine. ICRA 2013: 4263-4270
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Alex X. Lee, Yan Duan, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg, Pieter Abbeel:
Sigma hulls for Gaussian belief space planning for imprecise articulated robots amid obstacles. IROS 2013: 5660-5667
2012
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Stephen Miller, Jur van den Berg, Mario Fritz, Trevor Darrell, Kenneth Y. Goldberg, Pieter Abbeel:
A geometric approach to robotic laundry folding. Int. J. Robotics Res. 31(2): 249-267 (2012)
[j52]
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Ken Goldberg:
What Is Automation? [Editor's Corner]. IEEE Robotics Autom. Mag. 19(1): 101-102 (2012)
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Ken Goldberg:
What Is Automation? IEEE Trans Autom. Sci. Eng. 9(1): 1-2 (2012)
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Ken Goldberg:
Editorial Tracking T-ASE Inventory by Methodology and Application. IEEE Trans Autom. Sci. Eng. 9(2): 213-214 (2012)
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Ken Goldberg:
Editorial [intro. to Guest Editorial by Prof. Raff D'Andrea]. IEEE Trans Autom. Sci. Eng. 9(4): 637 (2012)
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Andrew B. Godbehere, Akihiro Matsukawa, Kenneth Y. Goldberg:
Visual tracking of human visitors under variable-lighting conditions for a responsive audio art installation. ACC 2012: 4305-4312
[c107]
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Animesh Garg, Timmy Siauw, Dmitry Berenson, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg:
Initial experiments toward automated robotic implantation of skew-line needle arrangements for HDR brachytherapy. CASE 2012: 26-33
[c106]
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Ben Kehoe, Dmitry Berenson, Ken Goldberg:
Estimating part tolerance bounds based on adaptive Cloud-based grasp planning with slip. CASE 2012: 1106-1113
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Jill Fantauzzacoffin, Joanna Berzowska, Ernest A. Edmonds, Ken Goldberg, D. Fox Harrell, Brian K. Smith:
The arts, HCI, and innovation policy discourse: invited panel. CHI Extended Abstracts 2012: 1111-1114
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Ben Kehoe, Dmitry Berenson, Ken Goldberg:
Toward cloud-based grasping with uncertainty in shape: Estimating lower bounds on achieving force closure with zero-slip push grasps. ICRA 2012: 576-583
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Dmitry Berenson, Pieter Abbeel, Ken Goldberg:
A robot path planning framework that learns from experience. ICRA 2012: 3671-3678
[c102]
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Karthik Lakshmanan, Apoorva Sachdev, Ziang Xie, Dmitry Berenson, Ken Goldberg, Pieter Abbeel:
A Constraint-Aware Motion Planning Algorithm for Robotic Folding of Clothes. ISER 2012: 547-562
2011
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Jur van den Berg, Pieter Abbeel, Kenneth Y. Goldberg:
LQG-MP: Optimized path planning for robots with motion uncertainty and imperfect state information. Int. J. Robotics Res. 30(7): 895-913 (2011)
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Kyle B. Reed, Ann Majewicz, Vinutha Kallem, Ron Alterovitz, Kenneth Y. Goldberg, Noah J. Cowan, Allison M. Okamura:
Robot-Assisted Needle Steering. IEEE Robotics Autom. Mag. 18(4): 35-46 (2011)
[c101]
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Jur van den Berg, Rajat Shah, Arthur Huang, Kenneth Y. Goldberg:
Anytime Nonparametric A. AAAI 2011: 105-111
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David Wong, Siamak Faridani, Ephrat Bitton, Björn Hartmann, Kenneth Y. Goldberg:
The diversity donut: enabling participant control over the diversity of recommended responses. CHI Extended Abstracts 2011: 1471-1476
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Leonard Jaillet, Judy Hoffman, Jur van den Berg, Pieter Abbeel, Josep M. Porta, Kenneth Y. Goldberg:
EG-RRT: Environment-guided random trees for kinodynamic motion planning with uncertainty and obstacles. IROS 2011: 2646-2652
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John D. Schulman, Ken Goldberg, Pieter Abbeel:
Grasping and Fixturing as Submodular Coverage Problems. ISRR 2011: 571-583
2010
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Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg:
Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. Int. J. Robotics Res. 29(7): 789-800 (2010)
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Siamak Faridani, Ephrat Bitton, Kimiko Ryokai, Kenneth Y. Goldberg:
Opinion space: a scalable tool for browsing online comments. CHI 2010: 1175-1184
[c96]
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Jur van den Berg, Stephen Miller, Daniel Duckworth, Humphrey Hu, Andrew Wan, Xiao-Yu Fu, Kenneth Y. Goldberg, Pieter Abbeel:
Superhuman performance of surgical tasks by robots using iterative learning from human-guided demonstrations. ICRA 2010: 2074-2081
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Jur van den Berg, Pieter Abbeel, Kenneth Y. Goldberg:
LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information. Robotics: Science and Systems 2010
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Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Kenneth Y. Goldberg:
LQG-Based Planning, Sensing, and Control of Steerable Needles. WAFR 2010: 373-389
[c93]
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Jur van den Berg, Stephen Miller, Kenneth Y. Goldberg, Pieter Abbeel:
Gravity-Based Robotic Cloth Folding. WAFR 2010: 409-424

2000 – 2009

see FAQ

What is the meaning of the colors in the publication lists?

2009
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Ron Alterovitz, Kenneth Y. Goldberg, Jean Pouliot, I-Chow Hsu:
Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissues. IEEE Trans. Inf. Technol. Biomed. 13(2): 217-225 (2009)
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Nuttapong Chentanez, Ron Alterovitz, Daniel Ritchie, Lita Cho, Kris K. Hauser, Kenneth Y. Goldberg, Jonathan Richard Shewchuk, James F. O'Brien:
Interactive simulation of surgical needle insertion and steering. ACM Trans. Graph. 28(3): 88 (2009)
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Ben Shneiderman, Elizabeth F. Churchill, Gerhard Fischer, Kenneth Y. Goldberg:
Promoting social creativity: a component of a national initiative for social participation. Creativity & Cognition 2009: 7-8
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Meysam Torabi, Kris K. Hauser, Ron Alterovitz, Vincent Duindam, Kenneth Y. Goldberg:
Guiding medical needles using single-point tissue manipulation. ICRA 2009: 2705-2710
[c90]
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Jeremy Schiff, Erik B. Sudderth, Kenneth Y. Goldberg:
Nonparametric belief propagation for distributed tracking of robot networks with noisy inter-distance measurements. IROS 2009: 1369-1376
[c89]
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Rik Jansen, Kris K. Hauser, Nuttapong Chentanez, A. Frank van der Stappen, Kenneth Y. Goldberg:
Surgical retraction of non-uniform deformable layers of tissue: 2D robot grasping and path planning. IROS 2009: 4092-4097
[c88]
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Jijie Xu, Vincent Duindam, Ron Alterovitz, Jean Pouliot, J. Adam M. Cunha, I-Chow Hsu, Kenneth Y. Goldberg:
Planning fireworks trajectories for steerable medical needles to reduce patient trauma. IROS 2009: 4517-4522
[c87]
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Tavi Nathanson, Ephrat Bitton, Kenneth Y. Goldberg:
Donation dashboard: a recommender system for donation portfolios. RecSys 2009: 253-256
[c86]
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Kris K. Hauser, Ron Alterovitz, Nuttapong Chentanez, Allison M. Okamura, Kenneth Y. Goldberg:
Feedback control for steering needles through 3D deformable tissue using helical paths. Robotics: Science and Systems 2009
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Jeremy Schiff, Marci Meingast, Deirdre K. Mulligan, Shankar Sastry, Ken Goldberg:
Respectful Cameras: Detecting Visual Markers in Real-Time to Address Privacy Concerns. Protecting Privacy in Video Surveillance 2009: 65-89
2008
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Ron Alterovitz, Kenneth Y. Goldberg:
Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures. Springer Tracts in Advanced Robotics 50, Springer 2008, ISBN 978-3-540-69257-7, pp. 1-113 [contents]
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Dezhen Song, Ni Qin, Kenneth Y. Goldberg:
Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera. Auton. Robots 24(4): 435-449 (2008)
[j42]
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Ron Alterovitz, Michael S. Branicky, Kenneth Y. Goldberg:
Motion Planning Under Uncertainty for Image-guided Medical Needle Steering. Int. J. Robotics Res. 27(11-12): 1361-1374 (2008)
[c85]
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Jijie Xu, Vincent Duindam, Ron Alterovitz, Ken Goldberg:
Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring Random Trees and backchaining. CASE 2008: 41-46
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Jeremy Schiff, Anand P. Kulkarni, Danny Bazo, Vincent Duindam, Ron Alterovitz, Dezhen Song, Ken Goldberg:
Actuator networks for navigating an unmonitored mobile robot. CASE 2008: 53-60
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Ephrat Bitton, Ken Goldberg:
Hydra: A framework and algorithms for mixed-initiative UAV-assisted search and rescue. CASE 2008: 61-66
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Dezhen Song, Ni Qin, Yiliang Xu, Chang-Young Kim, David Luneau, Ken Goldberg:
System and algorithms for an autonomous observatory assisting the search for the Ivory-Billed Woodpecker. CASE 2008: 200-205
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Vincent Duindam, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg:
Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles. ICRA 2008: 2483-2488
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Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Kenneth Y. Goldberg:
3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. WAFR 2008: 535-549
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Dezhen Song, Kenneth Y. Goldberg, Nak Young Chong:
Networked Telerobots. Springer Handbook of Robotics 2008: 759-771
2007
[j41]
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Jae-Sook Cheong, A. Frank van der Stappen, Kenneth Y. Goldberg, Mark H. Overmars, Elon Rimon:
Immobilizing Hinged Polygons. Int. J. Comput. Geom. Appl. 17(1): 45-70 (2007)
[j40]
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Mike Tao Zhang, Kenneth Y. Goldberg:
Designing robot grippers: optimal edge contacts for part alignment. Robotica 25(3): 341-349 (2007)
[j39]
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Dezhen Song, Kenneth Y. Goldberg:
Approximate Algorithms for a Collaboratively Controlled Robotic Camera. IEEE Trans. Robotics 23(5): 1061-1070 (2007)
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Mike Tao Zhang, Ken Goldberg:
Calibration of Wafer Handling Robots: A Fixturing Approach. CASE 2007: 255-260
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Onno C. Goemans, Marshall T. Anderson, Ken Goldberg, A. Frank van der Stappen:
Automated Feeding of Industrial Parts with Modular Blades: Design Software, Physical Experiments, and an Improved Algorithm. CASE 2007: 318-325
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Menasheh Fogel, Nathan Burkhart, Hongliang Ren, Jeremy Schiff, Max Qinghu Meng, Ken Goldberg:
Automated Tracking of Pallets in Warehouses: Beacon Layout and Asymmetric Ultrasound Observation Models. CASE 2007: 678-685
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Jeremy Schiff, Marci Meingast, Deirdre K. Mulligan, Shankar Sastry, Kenneth Y. Goldberg:
Respectful cameras: detecting visual markers in real-time to address privacy concerns. IROS 2007: 971-978
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Tavi Nathanson, Ephrat Bitton, Kenneth Y. Goldberg:
Eigentaste 5.0: constant-time adaptability in a recommender system using item clustering. RecSys 2007: 149-152
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Ron Alterovitz, Thierry Siméon, Kenneth Y. Goldberg:
The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty. Robotics: Science and Systems 2007
2006
[j38]
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Kenneth Y. Goldberg:
Amplifying research. IEEE Robotics Autom. Mag. 13(2): 3-5 (2006)
[j37]
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Dezhen Song, A. Frank van der Stappen, Kenneth Y. Goldberg:
Exact algorithms for single frame selection on multiaxis Satellites. IEEE Trans Autom. Sci. Eng. 3(1): 16-28 (2006)
[c73]
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Jeremy Schiff, Ken Goldberg:
Automated Intruder Tracking using Particle Filtering and a Network of Binary Motion Sensors. CASE 2006: 580-587
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Onno C. Goemans, Kenneth Y. Goldberg, A. Frank van der Stappen:
Blades: a New Class of Geometric Primitives for Feeding 3D Parts on Vibratory Tracks. ICRA 2006: 1730-1736
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Ni Qin, Dezhen Song, Kenneth Y. Goldberg:
Aligning Windows of Live Video From an Imprecise Pan-tilt-zoom Robotic Camera into a Remote Panoramic Display. ICRA 2006: 3429-3436
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Dezhen Song, Ni Qin, Kenneth Y. Goldberg:
A Minimum Variance Calibration Algorithm for Pan-tilt Robotic Cameras in Natural Environments. ICRA 2006: 3449-3456
[c69]
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Kenneth Y. Goldberg:
Sensitivity analysis: unexpected outcomes in art and engineering. ACM Multimedia 2006: 15
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Ron Alterovitz, Michael S. Branicky, Kenneth Y. Goldberg:
Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering. WAFR 2006: 319-334
2005
[j36]
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K. Gopalakrishnan, Kenneth Y. Goldberg:
D-space and Deform Closure Grasps of Deformable Parts. Int. J. Robotics Res. 24(11): 899-910 (2005)
[j35]
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Mike Tao Zhang, Kenneth Y. Goldberg:
Fixture-based industrial robot calibration for silicon wafer handling. Ind. Robot 32(1): 43-48 (2005)
[c67]
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Onno C. Goemans, Anthony Levandowski, Ken Goldberg, A. Frank van der Stappen:
On the design of guillotine traps for vibratory bowl feeders. CASE 2005: 79-86
[c66]
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Dezhen Song, Qiang Hu, Ni Qin, Ken Goldberg:
Automating inspection and documentation of remote building construction using a robotic camera. CASE 2005: 172-177
[c65]
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Ron Alterovitz, Kenneth Y. Goldberg, Allison M. Okamura:
Planning for Steerable Bevel-tip Needle Insertion Through 2D Soft Tissue with Obstacles. ICRA 2005: 1640-1645
[c64]
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Ron Alterovitz, Andrew E. B. Lim, Kenneth Y. Goldberg, Gregory S. Chirikjian, Allison M. Okamura:
Steering flexible needles under Markov motion uncertainty. IROS 2005: 1570-1575
[c63]
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Dezhen Song, Kenneth Y. Goldberg:
Networked Robotic Cameras for Collaborative Observation of Natural Environments. ISRR 2005: 510-519
2004
[j34]
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Kenneth Y. Goldberg, Seth Hutchinson, Jean-Daniel Boissonnat, Joel W. Burdick:
Special Issue on WAFR 2002. Int. J. Robotics Res. 23(7-8): 671-672 (2004)
[j33]
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Mike Tao Zhang, Ken Goldberg:
A Computer-Aided Design Tool in Java for Planar Gripper Design. J. Comput. Inf. Sci. Eng. 4(1): 43-48 (2004)
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Peter B. Luh, Kenneth Y. Goldberg, Richard A. Volz:
Editorial. IEEE Trans Autom. Sci. Eng. 1(1): 1-3 (2004)
[j31]
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Michael Yu Wang, Edward C. DeMeter, Shreyes N. Melkote, Kenneth Y. Goldberg, Zexiang Li:
Guest Editorial. IEEE Trans Autom. Sci. Eng. 1(2): 109 (2004)
[j30]
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Kanakasabapathi Gopalakrishnan, Kenneth Y. Goldberg, Gary M. Bone, Matthew Zaluzec, Rama Koganti, Rich Pearson, Patricia Deneszczuk:
Unilateral fixtures for sheet-metal parts with holes. IEEE Trans Autom. Sci. Eng. 1(2): 110-120 (2004)
[c62]
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Dezhen Song, A. Frank van der Stappen, Kenneth Y. Goldberg:
An Exact Algorithm Optimizing Coverage-resolution for Automated Satellite Frame Selection. ICRA 2004: 63-70
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K. Gopalakrishnan, Kenneth Y. Goldberg:
D-space and Deform Closure: a Framework for Holding Deformable Parts. ICRA 2004: 345-350
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Kenneth Y. Goldberg, Dezhen Song, In Yong Song, Jane McGonigal, Wei Zheng, Dana Plautz:
Unsupervised Scoring for Scalable Internet-based Collaborative Teleoperation. ICRA 2004: 4551-4556
[c59]
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Ken Goldberg:
Networked Robots: Ten Years of Experiments. WAFR 2004: 11-16
[c58]
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K. Gopalakrishnan, Ken Goldberg:
Computing Deform Closure Grasps. WAFR 2004: 203-218
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Jean-Daniel Boissonnat, Joel W. Burdick, Ken Goldberg, Seth Hutchinson:
Algorithmic Foundations of Robotics V, Selected Contributions of the Fifth International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002, Nice, France, December 15-17, 2002. Springer Tracts in Advanced Robotics 7, Springer 2004, ISBN 978-3-540-40476-7 [contents]
2003
[j29]
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Wolfram Burgard, Gerard T. McKee, Kenneth Y. Goldberg:
Guest Editorial: Special Issue on Internet and Online Robots. Auton. Robots 15(3): 211-212 (2003)
[j28]
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Ken Goldberg, Dezhen Song, Anthony Levandowski:
Collaborative teleoperation using networked spatial dynamic voting. Proc. IEEE 91(3): 430-439 (2003)
[c57]
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Sariel Har-Peled, Vladlen Koltun, Dezhen Song, Kenneth Y. Goldberg:
Efficient algorithms for shared camera control. SCG 2003: 68-77
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Ron Alterovitz, Kenneth Y. Goldberg, Jean Pouliot, Richard Tascherau, I-Chow Hsu:
Needle insertion and radioactive seed implantation in human tissues: simulation and sensitivity analysis. ICRA 2003: 1793-1799
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K. Gopalakrishnan, Matthew Zaluzec, Rama Koganti, Patricia Deneszczuk, Kenneth Y. Goldberg:
"Unilateral" fixturing of sheet metal parts using modular jaws with plane-cone contacts. ICRA 2003: 3953-3958
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Dezhen Song, Ken Goldberg:
ShareCam part 1: interface, system architecture, and implementation of a collaboratively controlled robotic Webcam. IROS 2003: 1080-1086
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Dezhen Song, Anatoly Pashkevich, Ken Goldberg:
ShareCam part II: approximate and distributed algorithms for a collaboratively controlled robotic Webcam. IROS 2003: 1087-1093
[c52]
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Ron Alterovitz, Ken Goldberg, Jean Pouliot, Richard Tascherau, I-Chow Hsu:
Sensorless planning for medical needle insertion procedures. IROS 2003: 3337-3343
[c51]
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Dezhen Song, Kenneth Y. Goldberg:
The co-opticon: shared access to a robotic streaming video camera. ACM Multimedia 2003: 104-105
2002
[j27]
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Dan Halperin, Micha Sharir, Kenneth Y. Goldberg:
The 2-Center Problem with Obstacles. J. Algorithms 42(1): 109-134 (2002)
[j26]
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Mike Tao Zhang, Kenneth Y. Goldberg:
Gripper point contacts for part alignment. IEEE Trans. Robotics Autom. 18(6): 902-910 (2002)
[c50]
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Jae-Sook Cheong, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen:
Fixturing Hinged Polygons. ICRA 2002: 876-881
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Kenneth Y. Goldberg, Dezhen Song, Yoek-Nam Khor, David Pescovitz, Anthony Levandowski, Jesse C. Himmelstein, Janice Shih, Annamarie Ho, Eric Paulos, Judith S. Donath:
Collaborative Online Teleoperation with Spatial Dynamic Voting and a Human "Tele-Actor". ICRA 2002: 1179-1184
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K. Gopalakrishnan, Kenneth Y. Goldberg:
Gripping Parts at Concave Vertices. ICRA 2002: 1590-1596
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Mark Moll, Kenneth Y. Goldberg, Michael A. Erdmann, Ronald S. Fearing:
Orienting Micro-Scale Parts with Squeeze and Roll Primitives. ICRA 2002: 1931-1936
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Dezhen Song, A. Frank van der Stappen, Ken Goldberg:
Exact and Distributed Algorithms for Collaborative Camera Control. WAFR 2002: 167-184
2001
[j25]
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Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen:
Trap Design for Vibratory Bowl Feeders. Int. J. Robotics Res. 20(11): 891-908 (2001)
[j24]
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Kenneth Y. Goldberg, Theresa Roeder, Dhruv Gupta, Chris Perkins:
Eigentaste: A Constant Time Collaborative Filtering Algorithm. Inf. Retr. 4(2): 133-151 (2001)
[j23]
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Mike Tao Zhang, Kenneth Y. Goldberg, Gordon Smith, Robert-Paul Berretty, Mark H. Overmars:
Pin design for part feeding. Robotica 19(6): 695-702 (2001)
[c45]
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Judith S. Donath, Dana Spiegel, Matt Lee, Kelly Dobson, Ken Goldberg:
Collaborative tele-directing. CHI Extended Abstracts 2001: 331-332
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Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen:
Orienting Parts by Inside-out Pulling. ICRA 2001: 1053-1058
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Mike Tao Zhang, Kenneth Y. Goldberg:
Design of Robot Gripper Jaws based on Trapezoidal Modules. ICRA 2001: 1065-1070
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Ken Goldberg, Billy Chen:
Collaborative control of robot motion: robustness to error. IROS 2001: 655-660
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Mike Tao Zhang, Lawrence Cheung, Ken Goldberg:
Shape tolerance for robot gripper jaws. IROS 2001: 1782-1787
2000
[j22]
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  - journals/algorithmica/BohringerBDG00
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Karl-Friedrich Böhringer, Vivek Bhatt, Bruce Randall Donald, Kenneth Y. Goldberg:
Algorithms for Sensorless Manipulation Using a Vibrating Surface. Algorithmica 26(3-4): 389-429 (2000)
[j21]
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A. Frank van der Stappen, Kenneth Y. Goldberg:
Geometric Eccentricity and the Complexity of Manipulation Plans. Algorithmica 26(3-4): 494-514 (2000)
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Roland Siegwart, Ken Goldberg:
Robots on the web [Guest Editorial]. IEEE Robotics Autom. Mag. 7(1): 4 (2000)
[j19]
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Kenneth Y. Goldberg, Steve Gentner, Carl Sutter, Jeff Wiegley:
The Mercury Project: a feasibility study for Internet robots. IEEE Robotics Autom. Mag. 7(1): 35-40 (2000)
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Dan Halperin, Micha Sharir, Kenneth Y. Goldberg:
The 2-center problem with obstacles. SCG 2000: 80-90
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A. Frank van der Stappen, Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars:
Geometry and Part Feeding. Sensor Based Intelligent Robots 2000: 259-281
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Mike Tao Zhang, Gordon Smith, Robert-Paul Berretty, Mark H. Overmars, Kenneth Y. Goldberg:
The Toppling Graph: Designing Pin Sequences for Part Feeding. ICRA 2000: 139-146
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Kenneth Y. Goldberg, Billy Chen, Rory Solomon, Steve Bui, Bobak Farzin, Jacob Heitler, Derek Poon, Gordon Smith:
Collaborative Teleoperation via the Internet. ICRA 2000: 2019-2024

1990 – 1999

see FAQ

What is the meaning of the colors in the publication lists?

1999
[j18]
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Ken Goldberg, Brian Mirtich, Yan Zhuang, John Craig, Brian Carlisle, John F. Canny:
Part pose statistics: estimators and experiments. IEEE Trans. Robotics Autom. 15(5): 849-857 (1999)
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Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen:
Geometric Algorithms for Trap Design. SCG 1999: 95-104
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Gordon Smith, Eric Lee, Kenneth Y. Goldberg, Karl-Friedrich Böhringer, John Craig:
Computing Parallel-Jaw Grips. ICRA 1999: 1897-1903
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Robert-Paul Berretty, Kenneth Y. Goldberg, Lawrence Cheung, Mark H. Overmars, Gordon Smith, A. Frank van der Stappen:
Trap Design for Vibratory Bowl Feeders. ICRA 1999: 2558-2563
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Dhruv Gupta, Mark Digiovanni, Hiro Narita, Kenneth Y. Goldberg:
Jester 2.0: Evaluation of an New Linear Time Collaborative Filtering Algorithm (poster abstract). SIGIR 1999: 291-292
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Dhruv Gupta, Mark Digiovanni, Hiro Narita, Kenneth Y. Goldberg:
Jester 2.0: Collaborative Filtering to Retrieve Jokes (demonstration abstract). SIGIR 1999: 333
1998
[j17]
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Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen:
Computing fence designs for orienting parts. Comput. Geom. 10(4): 249-262 (1998)
[j16]
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Kyeonah Yu, Ken Goldberg:
A Complete Algorithm for Fixture Loading. Int. J. Robotics Res. 17(11): 1214-1224 (1998)
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Karl-Friedrich Böhringer, Kenneth Y. Goldberg, Michael Cohn, Roger Howe, Albert P. Pisano:
Parallel Microassembly with Electrostatic Force Fields. ICRA 1998: 1204-1211
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Dadi Gudmundsson, Ken Goldberg:
Estimating and optimizing throughput of a robotic part feeder using queueing theory. IROS 1998: 818-824
1997
[j15]
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Rick Wagner, Giuseppe Castanotto, Kenneth Y. Goldberg:
FixtureNet: interactive computer-aided design via the World Wide Web. Int. J. Hum. Comput. Stud. 46(6): 773-788 (1997)
[c29]
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Robert-Paul Berretty, Kenneth Y. Goldberg, Mark H. Overmars, A. Frank van der Stappen:
On Fence Design and the Complexity of Push Plans for Orienting Parts. SCG 1997: 21-29
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Dadi Gudmundsson, Ken Goldberg:
Tuning robotic part feeder parameters to maximize throughput. ICRA 1997: 2440-2445
[c27]
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Yan Zhuang, Ken Goldberg, Mary Pickett:
Simplifying complex CAD geometry with conservative bounding contours. ICRA 1997: 2503-2508
[c26]
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Dan Reznik, John F. Canny, Ken Goldberg:
Analysis of part motion on a longitudinally vibrating plate. IROS 1997: 421-427
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Eric Paulos, John F. Canny, Eduardo Kac, Kenneth Y. Goldberg, Mark Pauline:
Interfacing reality: exploring emerging trends between humans and machines (panel). SIGGRAPH 1997: 448-451
1996
[j14]
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Anil S. Rao, Kenneth Y. Goldberg:
Computing Grasp Functions. Comput. Geom. 6: 145-168 (1996)
[j13]
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Yan Zhuang, Kenneth Y. Goldberg:
On the Existence of Solutions in Modular Fixturing. Int. J. Robotics Res. 15(6): 646-656 (1996)
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Randy C. Brost, Kenneth Y. Goldberg:
A complete algorithm for designing planar fixtures using modular components. IEEE Trans. Robotics Autom. 12(1): 31-46 (1996)
[j11]
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Anil S. Rao, David J. Kriegman, Kenneth Y. Goldberg:
Complete algorithms for feeding polyhedral parts using pivot grasps. IEEE Trans. Robotics Autom. 12(2): 331-342 (1996)
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Jeff Wiegley, Kenneth Y. Goldberg, Michael A. Peshkin, Mike Brokowski:
A complete algorithm for designing passive fences to orient parts. ICRA 1996: 1133-1139
[c23]
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Brian Mirtich, Yan Zhuang, Kenneth Y. Goldberg, John Craig, Rob Zanutta, Brian Carlisle, John F. Canny:
Estimating pose statistics for robotic part feeders. ICRA 1996: 1140-1146
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Kenneth Y. Goldberg, Hadi Moradi:
Compiling assembly plans into hard automation. ICRA 1996: 1858-1863
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Ken Goldberg, Eric Paulos, John F. Canny, Judith S. Donath, Mark Pauline:
Legal tender. SIGGRAPH Visual Proceedings 1996: 43-44
1995
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Kenneth Y. Goldberg, Michael Mascha, Steve Gentner, Jürgen Rossman, Nick Rothenberg, Carl Sutter, Jeff Wiegley:
Beyond the Web: Manipulating the Real World. Comput. Networks ISDN Syst. 28(1&2): 209-219 (1995)
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John F. Canny, Kenneth Y. Goldberg:
A risc approach to sensing and manipulation. J. Field Robotics 12(6): 351-363 (1995)
[j8]
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Anil S. Rao, Kenneth Y. Goldberg:
Friction and part curvature in parallel- jaw grasping. J. Field Robotics 12(6): 365-381 (1995)
[j7]
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Alan D. Christiansen, Kenneth Y. Goldberg:
Comparing two algorithms for automatic planning by robots in stochastic environments. Robotica 13(6): 565-573 (1995)
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Dukhyun Kang, Ken Goldberg:
Sorting parts by random grasping. IEEE Trans. Robotics Autom. 11(1): 146-152 (1995)
[j5]
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Anil S. Rao, Kenneth Y. Goldberg:
Manipulating algebraic parts in the plane. IEEE Trans. Robotics Autom. 11(4): 598-602 (1995)
[c20]
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Anil S. Rao, David J. Kriegman, Kenneth Y. Goldberg:
Complete Algorithms for Reorienting Polyhedral Parts Using a Pivoting Gripper. SCG 1995: C22-C23
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Kenneth Y. Goldberg, Michael Mascha, Steve Gentner, Nick Rothenberg, Carl Sutter, Jeff Wiegley:
Destop Teleoperation via the World Wide Web. ICRA 1995: 654-659
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Karl-Friedrich Böhringer, Vivek Bhatt, Kenneth Y. Goldberg:
Sensorless manipulation using transverse vibrations of a plate. ICRA 1995: 1989-1996
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Anil S. Rao, David J. Kriegman, Kenneth Y. Goldberg:
Complete Algorithms for Reorienting Polyhedral Parts Using a Pivoting Gripper. ICRA 1995: 2242-2248
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Kenneth Y. Goldberg, John Craig, Brian Carlisle, Rob Zanutta:
Estimating Throughput for a Flexible Part Feeder. ISER 1995: 486-497
1994
[j4]
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Anil S. Rao, Kenneth Y. Goldberg:
Shape from Diameter: Recognizing Polygonal Parts With a Parallel-Jaw Gripper. Int. J. Robotics Res. 13(1): 16-37 (1994)
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John F. Canny, Ken Goldberg:
A RISC approach to robotics. IEEE Robotics Autom. Mag. 1(1): 26-28 (1994)
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Anil S. Rao, Kenneth Y. Goldberg:
Placing registration marks. IEEE Trans. Ind. Electron. 41(1): 51-59 (1994)
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Randy C. Brost, Kenneth Y. Goldberg:
A Complete Algorithm for Synthesizing Modular Fixtures for Polygonal Parts. ICRA 1994: 535-542
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Yan Zhuang, Kenneth Y. Goldberg, Yiu-Chung Wong:
On the Existence of Modular Fixtures. ICRA 1994: 543-549
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Brian Carlisle, Kenneth Y. Goldberg, Anil S. Rao, Jeff Wiegley:
A Pivoting Gripper for Feeding Industrial Parts. ICRA 1994: 1650-1655
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John F. Canny, Kenneth Y. Goldberg:
"RISC" for Industrial Robotics: Recent Results and Open Problems. ICRA 1994: 1951-1958
1993
[j1]
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Kenneth Y. Goldberg:
Orienting Polygonal Parts Without Sensors. Algorithmica 10(2-4): 210-225 (1993)
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Anil S. Rao, Kenneth Y. Goldberg:
Placing Registration Marks. ICRA (1) 1993: 161-167
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Dukhyun Kang, Kenneth Y. Goldberg:
Grasp Recognition Strategies from Empirical Models. ICRA (3) 1993: 455-460
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Anil S. Rao, Kenneth Y. Goldberg:
On the Relation Between Friction and Part Shape in Parallel-Jaw Grasping. ICRA (3) 1993: 461-466
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Mike Brokowski, Michael A. Peshkin, Kenneth Y. Goldberg:
Curved Fences for Part Alignment. ICRA (3) 1993: 467-473
1992
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Gerard J. Kim, George A. Bekey, Kenneth Y. Goldberg:
A shape metric for design-for-assembly. ICRA 1992: 968-973
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Anil S. Rao, Kenneth Y. Goldberg:
Orienting generalized polygonal parts. ICRA 1992: 2263-2268
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Dukhyun Kang, Kenneth Y. Goldberg:
Shape Recognition By Random grasping. IROS 1992: 387-392
1991
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Kenneth Y. Goldberg, Matthew T. Mason, Michael A. Erdmann:
Generating stochastic plans for a programmable parts feeder. ICRA 1991: 352-359
1990
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Kenneth Y. Goldberg, Matthew T. Mason:
Bayesian grasping. ICRA 1990: 1264-1269

1980 – 1989

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1988
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Kenneth Y. Goldberg, Barak A. Pearlmutter:
Using Backpropagation with Temporal Windows to Learn the Dynamics of the CMU Direct-Drive Arm II. NIPS 1988: 356-363
1987
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Kenneth Y. Goldberg, Marc H. Raibert:
Conditions for symmetric running in single- and double-support. ICRA 1987: 1890-1895

Coauthor Index

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