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ORCIDAshwin Balakrishna
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2020 – today
- 2022
[b1]Ashwin Balakrishna:
Scalable Supervision for Safe and Efficient Online Robot Learning. University of California, Berkeley, USA, 2022- [j4]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) - [c22]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 - [c21]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 - [c20]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 - [i28]Blake Wulfe, Ashwin Balakrishna, Logan Ellis, Jean Mercat, Rowan McAllister, Adrien Gaidon:
Dynamics-Aware Comparison of Learned Reward Functions. CoRR abs/2201.10081 (2022) - [i27]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) - [i26]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) - 2021
- [j3]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]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 - [c17]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 - [c16]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 - [c15]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 - [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 - [i25]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) - [i24]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) - [i23]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) - [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]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) - [i20]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) - [i19]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) - [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]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) - [i16]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) - [i15]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) - 2020
- [j2]L. Maria Michael Visuwasam, Ashwin Balakrishna, Nikitha Keerthana S. R., Kowsalya V.:
Level-6 Automated IoT integrated with Artificial Intelligence Based Big Data-Driven Dynamic Vehicular Traffic Control System. EAI Endorsed Trans. Energy Web 7(29): e9 (2020) - [j1]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) - [c10]Han Yu Li, Michael Danielczuk, Ashwin Balakrishna, Vishal Satish, Ken Goldberg:
Accelerating Grasp Exploration by Leveraging Learned Priors. CASE 2020: 110-117 - [c9]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 - [c8]Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Ken Goldberg:
Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects. CoRL 2020: 377-393 - [c7]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 - [c6]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 - [c5]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 - [c4]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 - [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]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) - [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]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) - [i7]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) - [i6]Han Yu Li, Michael Danielczuk, Ashwin Balakrishna, Vishal Satish, Ken Goldberg:
Accelerating Grasp Exploration by Leveraging Learned Priors. CoRR abs/2011.05661 (2020)
2010 – 2019
- 2019
- [c3]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 - [c2]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 - [c1]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 - [i5]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) - [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
- [i1]Anshul Ramachandran, Ashwin Balakrishna, Peter Kundzicz, Anirudh Neti:
Predicting Electric Vehicle Charging Station Usage: Using Machine Learning to Estimate Individual Station Statistics from Physical Configurations of Charging Station Networks. CoRR abs/1804.00714 (2018)
Coauthor Index
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last updated on 2023-09-08 13:06 CEST by the dblp team
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