b'Ken Goldberg'

research

∙ 09/14/2023

Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping

Grasping objects by a specific part is often crucial for safety and for ...

0 Adam Rashid, et al. ∙

research

∙ 07/13/2023

Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening

Accurate 3D sensing of suturing thread is a challenging problem in autom...

0 Vincent Schorp, et al. ∙

research

∙ 07/08/2023

The Busboy Problem: Efficient Tableware Decluttering Using Consolidation and Multi-Object Grasps

We present the "Busboy Problem": automating an efficient decluttering of...

0 Kishore Srinivas, et al. ∙

research

∙ 06/29/2023

Can Machines Garden? Systematically Comparing the AlphaGarden vs. Professional Horticulturalists

The AlphaGarden is an automated testbed for indoor polyculture farming w...

0 Simeon Adebola, et al. ∙

research

∙ 06/29/2023

FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity

The Robot Operating System (ROS2) is the most widely used software platf...

0 Kaiyuan Chen, et al. ∙

research

∙ 06/27/2023

IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors

Imitation learning has been applied to a range of robotic tasks, but can...

0 Gaurav Datta, et al. ∙

research

∙ 06/24/2023

Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping

Recently, robots have seen rapidly increasing use in homes and warehouse...

0 Shrey Aeron, et al. ∙

research

∙ 06/16/2023

Robot Learning with Sensorimotor Pre-training

We present a self-supervised sensorimotor pre-training approach for robo...

8 Ilija Radosavovic, et al. ∙

research

∙ 05/23/2023

Video Prediction Models as Rewards for Reinforcement Learning

Specifying reward signals that allow agents to learn complex behaviors i...

4 Alejandro Escontrela, et al. ∙

research

∙ 03/29/2023

Bagging by Learning to Singulate Layers Using Interactive Perception

Many fabric handling and 2D deformable material tasks in homes and indus...

0 Lawrence Yunliang Chen, et al. ∙

research

∙ 03/16/2023

LERF: Language Embedded Radiance Fields

Humans describe the physical world using natural language to refer to sp...

0 Justin Kerr, et al. ∙

research

∙ 03/15/2023

Learning to Trace and Untangle Semi-planar Knots (TUSK)

This paper extends prior work on untangling long cables and presents TUS...

0 Vainavi Viswanath, et al. ∙

research

∙ 02/24/2023

From Occlusion to Insight: Object Search in Semantic Shelves using Large Language Models

How can a robot efficiently extract a desired object from a shelf when i...

0 Satvik Sharma, et al. ∙

research

∙ 11/04/2022

Automating Vascular Shunt Insertion with the dVRK Surgical Robot

Vascular shunt insertion is a fundamental surgical procedure used to tem...

0 Karthik Dharmarajan, et al. ∙

research

∙ 10/31/2022

AutoBag: Learning to Open Plastic Bags and Insert Objects

Thin plastic bags are ubiquitous in retail stores, healthcare, food hand...

0 Lawrence Yunliang Chen, et al. ∙

research

∙ 10/21/2022

FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with Global Addressability

Fog Robotics renders networked robots with greater mobility, on-demand c...

0 Kaiyuan Chen, et al. ∙

research

∙ 10/14/2022

Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations

Providing densely shaped reward functions for RL algorithms is often exc...

17 Albert Wilcox, et al. ∙

research

∙ 10/13/2022

Learning to Efficiently Plan Robust Frictional Multi-Object Grasps

We consider a decluttering problem where multiple rigid convex polygonal...

17 Wisdom C. Agboh, et al. ∙

research

∙ 10/04/2022

Safely Learning Visuo-Tactile Feedback Policies in Real For Industrial Insertion

Industrial insertion tasks are often performed repetitively with parts t...

0 Letian Fu, et al. ∙

research

∙ 09/27/2022

SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception

Cables are commonplace in homes, hospitals, and industrial warehouses an...

4 Kaushik Shivakumar, et al. ∙

research

∙ 09/26/2022

Learning Self-Supervised Representations from Vision and Touch for Active Sliding Perception of Deformable Surfaces

Humans make extensive use of vision and touch as complementary senses, w...

0 Justin Kerr, et al. ∙

research

∙ 08/22/2022

SpeedFolding: Learning Efficient Bimanual Folding of Garments

Folding garments reliably and efficiently is a long standing challenge i...

3 Yahav Avigal, et al. ∙

research

∙ 08/22/2022

Automated Pruning of Polyculture Plants

Polyculture farming has environmental advantages but requires substantia...

3 Mark Presten, et al. ∙

research

∙ 07/16/2022

Autonomously Untangling Long Cables

Cables are ubiquitous in many settings and it is often useful to untangl...

10 Vainavi Viswanath, et al. ∙

research

∙ 07/05/2022

Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects

Stacking increases storage efficiency in shelves, but the lack of visibi...

0 Huang Huang, et al. ∙

research

∙ 07/02/2022

Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies

Simulation-to-reality transfer has emerged as a popular and highly succe...

0 Satvik Sharma, et al. ∙

research

∙ 06/29/2022

Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision

Commercial and industrial deployments of robot fleets often fall back on...

2 Ryan Hoque, et al. ∙

research

∙ 06/28/2022

DayDreamer: World Models for Physical Robot Learning

To solve tasks in complex environments, robots need to learn from experi...

10 Philipp Wu, et al. ∙

research

∙ 06/17/2022

Efficiently Learning Single-Arm Fling Motions to Smooth Garments

Recent work has shown that 2-arm "fling" motions can be effective for ga...

0 Lawrence Yunliang Chen, et al. ∙

research

∙ 06/17/2022

Optimal Shelf Arrangement to Minimize Robot Retrieval Time

Shelves are commonly used to store objects in homes, stores, and warehou...

0 Lawrence Yunliang Chen, et al. ∙

research

∙ 06/01/2022

Multi-Object Grasping in the Plane

We consider the problem where multiple rigid convex polygonal objects re...

22 Wisdom C. Agboh, et al. ∙

research

∙ 05/19/2022

FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2

Mobility, power, and price points often dictate that robots do not have ...

0 Jeffrey Ichnowski, et al. ∙

research

∙ 05/14/2022

The Sky Above The Clouds

Technology ecosystems often undergo significant transformations as they ...

0 Sarah Chasins, et al. ∙

research

∙ 04/21/2022

Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research

Autonomous fabric manipulation is a longstanding challenge in robotics, ...

47 Ryan Hoque, et al. ∙

research

∙ 03/28/2022

Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions

Training a high-dimensional simulated agent with an under-specified rewa...

9 Alejandro Escontrela, et al. ∙

research

∙ 03/16/2022

GOMP-ST: Grasp Optimized Motion Planning for Suction Transport

Suction cup grasping is very common in industry, but moving too quickly ...

0 Yahav Avigal, et al. ∙

research

∙ 03/09/2022

All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators

Large-scale semantic image annotation is a significant challenge for lea...

7 Brijen Thananjeyan, et al. ∙

research

∙ 03/08/2022

Policy-Based Bayesian Experimental Design for Non-Differentiable Implicit Models

For applications in healthcare, physics, energy, robotics, and many othe...

3 Vincent Lim, et al. ∙

research

∙ 03/03/2022

Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning

Action representation is an important yet often overlooked aspect in end...

0 Aditya Ganapathi, et al. ∙

research

∙ 01/22/2022

Mechanical Search on Shelves using a Novel "Bluction" Tool

Shelves are common in homes, warehouses, and commercial settings due to ...

27 Huang Huang, et al. ∙

research

∙ 12/08/2021

Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles

Robotic Surgical Assistants (RSAs) are commonly used to perform minimall...

0 Albert Wilcox, et al. ∙

research

∙ 12/07/2021

MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance

Safe exploration is critical for using reinforcement learning (RL) in ri...

19 Michael Luo, et al. ∙

research

∙ 11/29/2021

LEGS: Learning Efficient Grasp Sets for Exploratory Grasping

Previous work defined Exploratory Grasping, where a robot iteratively gr...

0 Letian Fu, et al. ∙

research

∙ 11/11/2021

AlphaGarden: Learning to Autonomously Tend a Polyculture Garden

This paper presents AlphaGarden: an autonomous polyculture garden that p...

12 Mark Presten, et al. ∙

research

∙ 11/08/2021

Planar Robot Casting with Real2Sim2Real Self-Supervised Learning

Manipulation of deformable objects using a single parameterized dynamic ...

0 Vincent Lim, et al. ∙

research

∙ 11/02/2021

Simulation of Parallel-Jaw Grasping using Incremental Potential Contact Models

Soft compliant jaw tips are almost universally used with parallel-jaw ro...

0 Chung Min Kim, et al. ∙

research

∙ 10/28/2021

GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport

High-speed motions in pick-and-place operations are critical to making r...

0 Jeffrey Ichnowski, et al. ∙

research

∙ 10/27/2021

Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects

The ability to grasp and manipulate transparent objects is a major chall...

5 Jeffrey Ichnowski, et al. ∙

research

∙ 09/17/2021

ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning

Effective robot learning often requires online human feedback and interv...

7 Ryan Hoque, et al. ∙

research

∙ 08/25/2021

FogROS: An Adaptive Framework for Automating Fog Robotics Deployment

As many robot automation applications increasingly rely on multi-core pr...

0 Kaiyuan, et al. ∙

Ken Goldberg

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