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AUTOLAB Research Papers - Spring 2021
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Please see Updated List including these and other papers.

AUTOLAB Research Papers - Spring 2021  

Under Review, To Appear, and Recently Published

(excluding 6 papers submitted to ICML and RSS)

IEEE Int’l Conference on Robotics and Automation (ICRA)

To Appear Jun 1, 2021

  1. Robots  of  the  Lost  Arc:  Learning  to  Dynamically  Manipulate Fixed-Endpoint  Cables: Harry Zhang, Raven Huang, Jeff Ichnowski, Daniel Seita, Jonathan Wang, Ken Goldberg.  [3-min Video] [Final Paper] [12-min Video]

Learning Based Manipulation II Group: June 1st 10:00AM PDT

  1. Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks, Daniel Seita, Pete Florence, Jonathan Tompson, Erwin Coumans, Vikas Sindhwani, Ken Goldberg, Andy Zeng.
  1. [Final Paper (arXiv)]
  2. [Pre-recorded Conference Presentation (YouTube)]

        Learning-Based Manipulation II Group: June 1st, 10:15AM PDT

  1. Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones. Brijen Thananjeyan*, Ashwin Balakrishna*, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg. IEEE Robotics and Automation Letters (RA-L). [3-min Video][Final Paper][Website][Code][12-min Video].

Manipulation: Reinforcement Learning I: June 1st, 12:30 PM PDT

  1. Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics: Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg. [3-min Video] [Website] [Final Paper].

        Simulation and Control: Thursday, June 3rd, 12:00PM PDT

  1. Serverless Multi-Query Motion Planning for Fog Robotics. Raghav Anand, Jeffrey Ichnowski,  Chenggang Wu, Joey Gonzalez, Joseph Hellerstein, Ken Goldberg. [Final Paper].

  1. AlphaGarden: Learning Seed Placement and Automation Policies For Polyculture Farming with Companion Plants, Yahav Avigal, Anna Deza, William Wong, Sebastian Oehme, Mark Presten, Mark Theis, Jackson Chui, Paul Shao, Huang Huang, Atsunobu Kotani, Satvik Sharma, Michael Luo, Stefano Carpin, Joshua H. Viers, Stavros Vougioukas, Ken Goldberg. [Final Paper][12 min video].

  1. Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation: Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeff Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg. [Final Paper] [Website] [3-min Video] [Full Video].

Human Robot Interaction: Tuesday, June 1st, 2:00 PM PDT

  1. Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search, Andrey Kurenkov, Robert Martin Martin, Jeffrey Ichnowski, Silvio Savarase, Ken Goldberg. [Final Paper].

  1. Object Rearrangement Using Learned Implicit Collision Functions. Michael Danielczuk*, Arsalan Mousavian*, Clemens Eppner, Dieter Fox. [Final Paper] [Website] [3-min Video] [12-min Presentation] [Supplementary Material] [Code (available soon!)]                                                 Machine Learning I: June 1st, 10:45 AM

To Appear”

IEEE Int’l Conference on Automation Science and Engineering (CASE), Online and Lyon, France.  August 2021: 

  1. Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities. Shivin Devgon, Jeffrey Ichnowski, Michael Danielczuk, Daniel S. Brown, Ashwin Balakrishna, Shirin Joshi, Eduardo M. C. Rocha, Eugen Solowjow, Ken Goldberg.IEEE Int’l Conference on Automation Science and Engineering (CASE), Online and Lyon, France.  August 2021 [final submission].

  1. FogROS:  A Light-Weight Easy-to-Use Framework for Cloud-Based Robot Computation. Kaiyuan (Eric) Chen, Yafei Liang, Jeffrey Ichnowski, Michael Danielczuk, Joseph Gonzalez, John Kubiatowicz, Ken Goldberg.IEEE Int’l Conference on Automation Science and Engineering (CASE), Online and Lyon, France.  August 2021 [final submission].

  1. AVPLUG: Approach Vector PLanning for Unicontact Grasping amid Clutter. Yahav Avigal*, Vishal Satish*, Zach Tam, Harry Zhang, Huang Huang, Michael Danielczuk, Jeffrey Ichnowski, Ken Goldberg.IEEE Int’l Conference on Automation Science and Engineering (CASE), Online and Lyon, France.  August 2021 [camera ready].

  1. LazyDAgger: Reducing Context Switching in Interactive Robot Imitation Learning. Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel Brown, Daniel Seita, Brijen Thananjeyan, Ellen Novoseller, Ken Goldberg.IEEE Int’l Conference on Automation Science and Engineering (CASE), Online and Lyon, France.  August 2021 [camera ready].

Science Robotics

Deep Learning Can Significantly Accelerate Grasp-Optimized Motion Planning.

Jeffrey Ichnowski, Yahav Avigal, Vishal Satish, Ken Goldberg. Science Robotics. V5(48), 18 Nov 2020. [Paper][video]

To Appear: IEEE/RSJ  Int’l Conference on Robots (IROS), Oct 2021:  

  1. Disentangling Dense Multiple-Cable Knots. Vainavi Viswanath*, Jennifer Grannen*, Priya Sundaresan*, Brijen Thananjeyan, Ashwin Balakrishna, Ellen Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg. [final submission].

  1. Mechanical Search on Shelves using Lateral Access X-RAY.  Huang Huang*, Marcus Dominguez-Kuhne*, Jeff Ichnowski, Vishal Satish, Mike Danielczuk, Kate Sanders, Andrew Lee, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg. [final submission] [website].

  1. A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration. Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica Li, Ken Goldberg, Hannah S. Stuart. [final submission].

CoRL 2020

  1. Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects. Michael Danielczuk*, Ashwin Balakrishna*, Daniel Brown, Shivin Devgon, Ken Goldberg.Conference on Robot Learning (CoRL), Online (MIT): Nov 16-18, 2020. [Paper][Video][Website]

  1. Untangling Dense Knots by Learning Task-Relevant Keypoints.Jennifer Grannen*, Priya Sundaresan*, Brijen Thananjeyan, Jeff Ichnowski, Ashwin Balakrishna, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg. Conference on Robot Learning (CoRL), Online (MIT): Nov 16-18, 2020. [Paper][5-min Video][15-min Video][Website]