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2020 – today
- 2023
[j5]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)- 2022
- [b1]Brijen Thananjeyan:
Safe Reinforcement Learning Using Learned Safe Sets. University of California, Berkeley, USA, 2022 - [c24]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 - [c23]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 - [c22]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 - [c21]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 - [c20]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 - [i26]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) - [i25]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) - [i24]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) - 2021
- [j4]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) - [c19]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 - [c18]Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland:
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo. CoRL 2021: 938-948 - [c17]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 - [c16]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 - [c15]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 - [c14]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 - [c13]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 - [c12]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 - [c11]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 - [i23]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) - [i22]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) - [i21]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) - [i20]Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland:
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo. CoRR abs/2106.16118 (2021) - [i19]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) - [i18]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) - [i17]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) - [i16]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
- [j3]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) - [j2]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) - [c10]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 - [c9]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 - [c8]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 - [c7]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 - [i15]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) - [i14]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) - [i13]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) - [i12]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) - [i11]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) - [i10]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) - [i9]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) - [i8]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) - [i7]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) - [i6]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) - [i5]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
- 2019
- [j1]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) - [c6]Priya Sundaresan, Brijen Thananjeyan, Johnathan Chiu, Danyal Fer, Ken Goldberg:
Automated Extraction of Surgical Needles from Tissue Phantoms. CASE 2019: 170-177 - [c5]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 - [c4]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 - [i4]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) - [i3]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) - [i2]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) - 2018
- [c3]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 - [i1]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
- [c2]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 - 2016
- [c1]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
Coauthor Index
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