Ken Goldberg
Publication record assembled from the DBLP archive of ranked conferences.
Papers indexed
159
Venues
16
Active years
1996–2025
Best venue rank
A*
Where they publish
Papers
159 indexed papers, newest first.
| Year | Venue | Title | Authors |
|---|---|---|---|
| 2025 | ICML | OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction. | Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel |
| 2025 | ICRA | Robo-DM: Data Management for Large Robot Datasets. | Kaiyuan Chen, Letian Fu, David Huang, Yanxiang Zhang, Lawrence Yunliang Chen, Huang Huang, Kush Hari, Ashwin Balakrishna, Ted Xiao, Pannag R. Sanketi, John Kubiatowicz, Ken Goldberg |
| 2025 | ICRA | FogROS2-PLR: Probabilistic Latency-Reliability for Cloud Robotics. | Kaiyuan Chen, Nan Tian, Christian Juette, Tianshuang Qiu, Liu Ren, John Kubiatowicz, Ken Goldberg |
| 2025 | ICRA | ICRT: In-Context Imitation Learning via Next-Token Prediction. | Max Fu, Huang Huang, Gaurav Datta, Lawrence Yunliang Chen, Will Panitch, Fangchen Liu, Hui Li, Ken Goldberg |
| 2025 | ICRA | Blox-Net: Generative Design-for-Robot-Assembly Using VLM Supervision, Physics Simulation, and a Robot with Reset. | Andrew Goldberg, Kavish Kondap, Tianshuang Qiu, Zehan Ma, Letian Fu, Justin Kerr, Huang Huang, Kaiyuan Chen, Kuan Fang, Ken Goldberg |
| 2025 | ICRA | SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks. | Masoud Moghani, Nigel Nelson, Mohamed Ghanem, Andres Diaz-Pinto, Kush Hari, Mahdi Azizian, Ken Goldberg, Sean Huver, Animesh Garg |
| 2025 | IROS | Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats. | Simeon Adebola, Chung Min Kim, Justin Kerr, Shuangyu Xie, Prithvi Akella, Jose Luis Susa Rincon, Eugen Solowjow, Ken Goldberg |
| 2025 | IROS | Surgical D-Knot: Augmented Dexterity for Tying Double Knots by Monitoring Optical Flow in Monocular Attention Windows. | Ziyang Chen, Kush Hari, Tanmayi Dasari, Karen Shieh, Ria Jain, Danyal M. Fer, Gary Guthart, Ken Goldberg |
| 2025 | IROS | PyRoki: A Modular Toolkit for Robot Kinematic Optimization. | Chung Min Kim, Brent Yi, Hongsuk Choi, Yi Ma, Ken Goldberg, Angjoo Kanazawa |
| 2025 | IROS | Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging. | Tianshuang Qiu, Zehan Ma, Karim El-Refai, Hiya Shah, Chung Min Kim, Justin Kerr, Ken Goldberg |
| 2025 | ICRA | Energy Efficient Planning for Repetitive Heterogeneous Tasks in Precision Agriculture. | Shuangyu Xie, Ken Goldberg, Dezhen Song |
| 2025 | ICRA | Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects. | Justin Yu, Kush Hari, Karim El-Refai, Arnav Dalal, Justin Kerr, Chung Min Kim, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg |
| 2024 | CoRL | RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning. | Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg |
| 2024 | CoRL | DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning. | Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox |
| 2024 | CoRL | Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction. | Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Ken Goldberg, Angjoo Kanazawa |
| 2024 | CVPR | GARField: Group Anything with Radiance Fields. | Chung Min Kim, Mingxuan Wu, Justin Kerr, Ken Goldberg, Matthew Tancik, Angjoo Kanazawa |
| 2024 | ICML | A Touch, Vision, and Language Dataset for Multimodal Alignment. | Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg |
| 2024 | ICRA | FogROS2-Config: A Toolkit for Choosing Server Configurations for Cloud Robotics. | Kaiyuan Chen, Kush Hari, Rohil Khare, Charlotte Le, Trinity Chung, Jaimyn Drake, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg |
| 2024 | ICRA | FogROS2-LS: A Location-Independent Fog Robotics Framework for Latency Sensitive ROS2 Applications. | Kaiyuan Chen, Michael Wang, Marcus Gualtieri, Nan Tian, Christian Juette, Liu Ren, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg |
| 2024 | ICRA | Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion. | Huang Huang, Antonio Loquercio, Ashish Kumar, Neerja Thakkar, Ken Goldberg, Jitendra Malik |
| 2024 | ICRA | Conformal Policy Learning for Sensorimotor Control under Distribution Shifts. | Huang Huang, Satvik Sharma, Antonio Loquercio, Anastasios Angelopoulos, Ken Goldberg, Jitendra Malik |
| 2024 | ICRA | Open X-Embodiment: Robotic Learning Datasets and RT-X Models : Open X-Embodiment Collaboration. | 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 E. 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 Schlkopf, 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 Bchler, 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 T. 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, Joo Silvrio, 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 Snderhauf, 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 Martn-Martn, Rohan Baijal, Rosario Scalise, Rose Hendrix, Roy Lin, Runjia Qian, Ruohan Zhang, Russell Mendonca, Rutav Shah, Ryan Hoque, Ryan Julian, Samuel Bustamante-Gomez, 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 |
| 2024 | ICRA | Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS2. | 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 |
| 2024 | IROS | FogROS2-FT: Fault Tolerant Cloud Robotics. | Kaiyuan Chen, Kush Hari, Trinity Chung, Michael Wang, Nan Tian, Christian Juette, Jeffrey Ichnowski, Liu Ren, John Kubiatowicz, Ion Stoica, Ken Goldberg |
| 2024 | IROS | IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning. | Ryan Hoque, Ajay Mandlekar, Caelan Reed Garrett, Ken Goldberg, Dieter Fox |
| 2024 | IROS | SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants. | Masoud Moghani, Lars Doorenbos, William Chung-Ho Panitch, Sean Huver, Mahdi Azizian, Ken Goldberg, Animesh Garg |
| 2024 | IROS | BOMP: Bin-Optimized Motion Planning. | Zachary Tam, Karthik Dharmarajan, Tianshuang Qiu, Yahav Avigal, Jeffrey Ichnowski, Ken Goldberg |
| 2024 | IROS | Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot. | 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 |
| 2024 | IROS | MANIP: A Modular Architecture for Integrating Interactive Perception for Robot Manipulation. | Justin Yu, Tara Sadjadpour, Abby O'Neill, Mehdi Khfifi, Lawrence Yunliang Chen, Richard Cheng, Muhammad Zubair Irshad, Ashwin Balakrishna, Thomas Kollar, Ken Goldberg |
| 2024 | ICRA | Orbit-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity. | Qinxi Yu, Masoud Moghani, Karthik Dharmarajan, Vincent Schorp, William Chung-Ho Panitch, Jingzhou Liu, Kush Hari, Huang Huang, Mayank Mittal, Ken Goldberg, Animesh Garg |
| 2023 | CoRL | IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors. | Gaurav Datta, Ryan Hoque, Anrui Gu, Eugen Solowjow, Ken Goldberg |
| 2023 | CoRL | Robot Learning with Sensorimotor Pre-training. | Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik |
| 2023 | CoRL | Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping. | Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen, Angjoo Kanazawa, Ken Goldberg |
| 2023 | CoRL | Semantic Mechanical Search with Large Vision and Language Models. | Satvik Sharma, Huang Huang, Kaushik Shivakumar, Lawrence Yunliang Chen, Ryan Hoque, Brian Ichter, Ken Goldberg |
| 2023 | CoRL | HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation. | Vainavi Viswanath, Kaushik Shivakumar, Mallika Parulekar, Jainil Ajmera, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg |
| 2023 | ICCV | LERF: Language Embedded Radiance Fields. | Justin Kerr, Chung Min Kim, Ken Goldberg, Angjoo Kanazawa, Matthew Tancik |
| 2023 | ICRA | Can Machines Garden? Systematically Comparing the AlphaGarden vs. Professional Horticulturalists. | Simeon Adebola, Rishi Parikh, Mark Presten, Satvik Sharma, Shrey Aeron, Ananth Rao, Sandeep Mukherjee, Tomson Qu, Christina Wistrom, Eugen Solowjow, Ken Goldberg |
| 2023 | ICRA | AutoBag: Learning to Open Plastic Bags and Insert Objects. | Lawrence Yunliang Chen, Baiyu Shi, Daniel Seita, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg |
| 2023 | ICRA | Automating Vascular Shunt Insertion with the dVRK Surgical Robot. | Karthik Dharmarajan, Will Panitch, Muyan Jiang, Kishore Srinivas, Baiyu Shi, Yahav Avigal, Huang Huang, Thomas Low, Danyal Fer, Ken Goldberg |
| 2023 | ICRA | Safe Self-Supervised Learning in Real of Visuo-Tactile Feedback Policies for Industrial Insertion. | Letian Fu, Huang Huang, Lars Berscheid, Hui Li, Ken Goldberg, Sachin Chitta |
| 2023 | ICRA | FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2. | 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 |
| 2023 | IROS | Learning to Efficiently Plan Robust Frictional Multi-Object Grasps. | Wisdom C. Agboh, Satvik Sharma, Kishore Srinivas, Mallika Parulekar, Gaurav Datta, Tianshuang Qiu, Jeffrey Ichnowski, Eugen Solowjow, Mehmet Remzi Dogar, Ken Goldberg |
| 2023 | IROS | FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity. | Kaiyuan Chen, Ryan Hoque, Karthik Dharmarajan, Edith LLontop, Simeon Adebola, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg |
| 2023 | IROS | Bagging by Learning to Singulate Layers Using Interactive Perception. | Lawrence Yunliang Chen, Baiyu Shi, Roy Lin, Daniel Seita, Ayah Ahmad, Richard Cheng, Thomas Kollar, David Held, Ken Goldberg |
| 2023 | ICRA | SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception. | Kaushik Shivakumar, Vainavi Viswanath, Anrui Gu, Yahav Avigal, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg |
| 2022 | CoRL | Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision. | Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg |
| 2022 | CoRL | Evo-NeRF: Evolving NeRF for Sequential Robot Grasping of Transparent Objects. | Justin Kerr, Letian Fu, Huang Huang, Yahav Avigal, Matthew Tancik, Jeffrey Ichnowski, Angjoo Kanazawa, Ken Goldberg |
| 2022 | CoRL | DayDreamer: World Models for Physical Robot Learning. | Philipp Wu, Alejandro Escontrela, Danijar Hafner, Pieter Abbeel, Ken Goldberg |
| 2022 | ICRA | LEGS: Learning Efficient Grasp Sets for Exploratory Grasping. | Letian Fu, Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Jeffrey Ichnowski, Eugen Solowjow, Ken Goldberg |
| 2022 | ICRA | Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning. | Aditya Ganapathi, Pete Florence, Jake Varley, Kaylee Burns, Ken Goldberg, Andy Zeng |
| 2022 | ICRA | Mechanical Search on Shelves using a Novel "Bluction" Tool. | Huang Huang, Michael Danielczuk, Chung Min Kim, Letian Fu, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, Ken Goldberg |
| 2022 | ICRA | GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport. | Jeffrey Ichnowski, Yahav Avigal, Yi Liu, Ken Goldberg |
| 2022 | ICRA | IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model. | Chung Min Kim, Michael Danielczuk, Isabella Huang, Ken Goldberg |
| 2022 | ICRA | Real2Sim2Real: Self-Supervised Learning of Physical Single-Step Dynamic Actions for Planar Robot Casting. | Vincent Lim, Huang Huang, Lawrence Yunliang Chen, Jonathan Wang, Jeffrey Ichnowski, Daniel Seita, Michael Laskey, Ken Goldberg |
| 2022 | IROS | SpeedFolding: Learning Efficient Bimanual Folding of Garments. | Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Krger, Ken Goldberg |
| 2022 | IROS | Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions. | Alejandro Escontrela, Xue Bin Peng, Wenhao Yu, Tingnan Zhang, Atil Iscen, Ken Goldberg, Pieter Abbeel |
| 2022 | IROS | Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research. | Ryan Hoque, Kaushik Shivakumar, Shrey Aeron, Gabriel Deza, Aditya Ganapathi, Adrian Wong, Johnny Lee, Andy Zeng, Vincent Vanhoucke, Ken Goldberg |
| 2022 | IROS | All You Need is LUV: Unsupervised Collection of Labeled Images Using UV-Fluorescent Markings. | Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg |
| 2022 | ICRA | Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles. | Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg |
| 2022 | ISRR | Multi-object Grasping in the Plane. | Wisdom C. Agboh, Jeffrey Ichnowski, Ken Goldberg, Mehmet Remzi Dogar |
| 2022 | ISRR | Efficiently Learning Single-Arm Fling Motions to Smooth Garments. | Lawrence Yunliang Chen, Huang Huang, Ellen R. Novoseller, Daniel Seita, Jeffrey Ichnowski, Michael Laskey, Richard Cheng, Thomas Kollar, Ken Goldberg |
| 2022 | ISRR | Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects. | Huang Huang, Letian Fu, Michael Danielczuk, Chung Min Kim, Zachary Tam, Jeffrey Ichnowski, Anelia Angelova, Brian Ichter, Ken Goldberg |
| 2022 | WAFR | GOMP-ST: Grasp Optimized Motion Planning for Suction Transport. | Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao, Ken Goldberg |
| 2021 | CoRL | ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning. | Ryan Hoque, Ashwin Balakrishna, Ellen R. Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg |
| 2021 | CoRL | Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects. | Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg |
| 2021 | CoRL | LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks. | Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg |
| 2021 | ICML | Policy Gradient Bayesian Robust Optimization for Imitation Learning. | Zaynah Javed, Daniel S. Brown, Satvik Sharma, Jerry Zhu, Ashwin Balakrishna, Marek Petrik, Anca D. Dragan, Ken Goldberg |
| 2021 | ICML | Resource Allocation in Multi-armed Bandit Exploration: Overcoming Sublinear Scaling with Adaptive Parallelism. | Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph Gonzalez |
| 2021 | ICRA | Serverless Multi-Query Motion Planning for Fog Robotics. | Raghav Anand, Jeffrey Ichnowski, Chenggang Wu, Joseph M. Hellerstein, Joseph E. Gonzalez, Ken Goldberg |
| 2021 | ICRA | Learning Seed Placements 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, Rishi Parikh, Michael Luo, Sandeep Mukherjee, Stefano Carpin, Joshua H. Viers, Stavros Vougioukas, Ken Goldberg |
| 2021 | ICRA | 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 E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg |
| 2021 | ICRA | Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search. | Andrey Kurenkov, Roberto Martn-Martn, Jeffrey Ichnowski, Ken Goldberg, Silvio Savarese |
| 2021 | ICRA | Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation. | Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg |
| 2021 | IROS | Mechanical Search on Shelves using Lateral Access X-RAY. | Huang Huang, Marcus Dominguez-Kuhne, Vishal Satish, Michael Danielczuk, Kate Sanders, Jeffrey Ichnowski, Andrew Lee, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg |
| 2021 | IROS | A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration. | Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica S. Li, Yunliang Chen, Ken Goldberg, Hannah S. Stuart |
| 2021 | IROS | Disentangling Dense Multi-Cable Knots. | Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen R. Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg |
| 2021 | ICRA | 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 |
| 2021 | ICRA | Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables. | Harry Zhang, Jeffrey Ichnowski, Daniel Seita, Jonathan Wang, Huang Huang, Ken Goldberg |
| 2021 | WAFR | ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. | Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg |
| 2020 | AISTATS | Online Learning with Continuous Variations: Dynamic Regret and Reductions. | Ching-An Cheng, Jonathan Lee, Ken Goldberg, Byron Boots |
| 2020 | CoRL | Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects. | Michael Danielczuk, Ashwin Balakrishna, Daniel S. Brown, Ken Goldberg |
| 2020 | CoRL | Untangling Dense Knots by Learning Task-Relevant Keypoints. | Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Vainavi Viswanath, Michael Laskey, Joseph Gonzalez, Ken Goldberg |
| 2020 | ICRA | GOMP: Grasp-Optimized Motion Planning for Bin Picking. | Jeffrey Ichnowski, Michael Danielczuk, Jingyi Xu, Vishal Satish, Ken Goldberg |
| 2020 | ICRA | Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing. | Jeffrey Ichnowski, William Lee, Victor Murta, Samuel Paradis, Ron Alterovitz, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg |
| 2020 | IROS | X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions. | Michael Danielczuk, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg |
| 2020 | IROS | Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor. | 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 |
| 2020 | ICRA | Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data. | Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg |
| 2020 | ICRA | Motion2Vec: Semi-Supervised Representation Learning from Surgical Videos. | Ajay Kumar Tanwani, Pierre Sermanet, Andy Yan, Raghav Anand, Mariano Phielipp, Ken Goldberg |
| 2020 | ICRA | Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects. | Jingyi Xu, Michael Danielczuk, Jeffrey Ichnowski, Jeffrey Mahler, Eckehard G. Steinbach, Ken Goldberg |
| 2020 | ICRA | 6DFC: Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones. | Jingyi Xu, Michael Danielczuk, Eckehard G. Steinbach, Ken Goldberg |
| 2020 | ICRA | Dex-Net AR: Distributed Deep Grasp Planning Using a Commodity Cellphone and Augmented Reality App. | Harry Zhang, Jeffrey Ichnowski, Yahav Avigal, Joseph Gonzalez, Ion Stoica, Ken Goldberg |
| 2019 | CoRL | On-Policy Robot Imitation Learning from a Converging Supervisor. | Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Felix Li, Arsh Zahed, Joseph E. Gonzalez, Ken Goldberg |
| 2019 | ICRA | Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter. | Michael Danielczuk, Andrey Kurenkov, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martn-Martn, Animesh Garg, Silvio Savarese, Ken Goldberg |
| 2019 | ICRA | Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data. | Michael Danielczuk, Matthew Matl, Saurabh Gupta, Andrew Li, Andrew Lee, Jeffrey Mahler, Ken Goldberg |
| 2019 | IROS | Partial Caging: A Clearance-Based Definition and Deep Learning. | Anastasiia Varava, Michael C. Welle, Jeffrey Mahler, Ken Goldberg, Danica Kragic, Florian T. Pokomy |
| 2019 | ICRA | A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering. | Ajay Kumar Tanwani, Nitesh Mor, John Kubiatowicz, Joseph E. Gonzalez, Ken Goldberg |
| 2019 | ICRA | A Fog Robotic System for Dynamic Visual Servoing. | Nan Tian, Ajay Kumar Tanwani, Jinfa Chen, Mas Ma, Robert Zhang, Bill Huang, Ken Goldberg, Somayeh Sojoudi |
| 2019 | ISRR | REACH: Reducing False Negatives in Robot Grasp Planning with a Robust Efficient Area Contact Hypothesis Model. | Michael Danielczuk, Jingyi Xu, Jeffrey Mahler, Matthew Matl, Nuttapong Chentanez, Ken Goldberg |
| 2019 | ISRR | Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making. | Daniel Seita, Nawid Jamali, Michael Laskey, Ajay Kumar Tanwani, Ron Berenstein, Prakash Baskaran, Soshi Iba, John F. Canny, Ken Goldberg |
| 2019 | ISRR | Mitigating Network Latency in Cloud-Based Teleoperation Using Motion Segmentation and Synthesis. | Nan Tian, Ajay Kumar Tanwani, Ken Goldberg, Somayeh Sojoudi |
| 2018 | ICLR | Parametrized Hierarchical Procedures for Neural Programming. | Roy Fox, Richard Shin, Sanjay Krishnan, Ken Goldberg, Dawn Song, Ion Stoica |
| 2018 | ICML | RLlib: Abstractions for Distributed Reinforcement Learning. | Eric Liang, Richard Liaw, Robert Nishihara, Philipp Moritz, Roy Fox, Ken Goldberg, Joseph Gonzalez, Michael I. Jordan, Ion Stoica |
| 2018 | ICRA | Robustly Adjusting Indoor Drip Irrigation Emitters with the Toyota HSR Robot. | Ron Berenstein, Roy Fox, Stephen McKinley, Stefano Carpin, Ken Goldberg |
| 2018 | ICRA | Dex-Net 3.0: Computing Robust Vacuum Suction Grasp Targets in Point Clouds Using a New Analytic Model and Deep Learning. | Jeffrey Mahler, Matthew Matl, Xinyu Liu, Albert Li, David V. Gealy, Ken Goldberg |
| 2018 | ICRA | Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure. | Daniel Seita, Sanjay Krishnan, Roy Fox, Stephen McKinley, John F. Canny, Ken Goldberg |
| 2018 | ICRA | Routing Algorithms for Robot Assisted Precision Irrigation. | Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin |
| 2018 | ICRA | Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation. | Tianhao Zhang, Zoe McCarthy, Owen Jow, Dennis Lee, Xi Chen, Ken Goldberg, Pieter Abbeel |
| 2018 | IUI | Personalizing Mobile Fitness Apps using Reinforcement Learning. | Mo Zhou, Yonatan Mintz, Yoshimi Fukuoka, Ken Goldberg, Elena Flowers, Philip M. Kaminsky, Alejandro Castillejo, Anil Aswani |
| 2018 | WAFR | A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning. | Jonathan N. Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani, Ken Goldberg |
| 2018 | WAFR | Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models. | Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, Sylvain Calinon |
| 2017 | CoRL | DDCO: Discovery of Deep Continuous Options for Robot Learning from Demonstrations. | Sanjay Krishnan, Roy Fox, Ion Stoica, Ken Goldberg |
| 2017 | CoRL | DART: Noise Injection for Robust Imitation Learning. | Michael Laskey, Jonathan Lee, Roy Fox, Anca D. Dragan, Ken Goldberg |
| 2017 | CoRL | Learning Deep Policies for Robot Bin Picking by Simulating Robust Grasping Sequences. | Jeffrey Mahler, Ken Goldberg |
| 2017 | ICRA | Design of parallel-jaw gripper tip surfaces for robust grasping. | Menglong Guo, David V. Gealy, Jacky Liang, Jeffrey Mahler, Aimee Goncalves, Stephen McKinley, Juan Aparicio Ojea, Ken Goldberg |
| 2017 | ICRA | Comparing human-centric and robot-centric sampling for robot deep learning from demonstrations. | Michael Laskey, Caleb Chuck, Jonathan Lee, Jeffrey Mahler, Sanjay Krishnan, Kevin Jamieson, Anca D. Dragan, Ken Goldberg |
| 2017 | ICRA | Multilateral surgical pattern cutting in 2D orthotropic gauze with deep reinforcement learning policies for tensioning. | Brijen Thananjeyan, Animesh Garg, Sanjay Krishnan, Carolyn Chen, Lauren Miller, Ken Goldberg |
| 2017 | ICRA | A cloud robot system using the dexterity network and berkeley robotics and automation as a service (Brass). | Nan Tian, Matthew Matl, Jeffrey Mahler, Yu Xiang Zhou, Samantha Staszak, Christopher Correa, Steven Zheng, Qiang Li, Robert Zhang, Ken Goldberg |
| 2017 | SIGITE | M-CAFE 2.0: A Scalable Platform with Comparative Plots and Topic Tagging for Ongoing Course Feedback. | Mo Zhou, Sanjay Krishnan, Jay Patel, Brandie Nonnecke, Camille Crittenden, Ken Goldberg |
| 2016 | ICRA | SHIV: Reducing supervisor burden in DAgger using support vectors for efficient learning from demonstrations in high dimensional state spaces. | Michael Laskey, Sam Staszak, Wesley Yu-Shu Hsieh, Jeffrey Mahler, Florian T. Pokorny, Anca D. Dragan, Ken Goldberg |
| 2016 | ICRA | Dex-Net 1.0: A cloud-based network of 3D objects for robust grasp planning using a Multi-Armed Bandit model with correlated rewards. | Jeffrey Mahler, Florian T. Pokorny, Brian Hou, Melrose Roderick, Michael Laskey, Mathieu Aubry, Kai Kohlhoff, Torsten Krger, James J. Kuffner, Ken Goldberg |
| 2016 | ICRA | TSC-DL: Unsupervised trajectory segmentation of multi-modal surgical demonstrations with Deep Learning. | Adithyavairavan Murali, Animesh Garg, Sanjay Krishnan, Florian T. Pokorny, Pieter Abbeel, Trevor Darrell, Ken Goldberg |
| 2016 | ICRA | Topological trajectory clustering with relative persistent homology. | Florian T. Pokorny, Ken Goldberg, Danica Kragic |
| 2016 | ICRA | High-dimensional Winding-Augmented Motion Planning with 2D topological task projections and persistent homology. | Florian T. Pokorny, Danica Kragic, Lydia E. Kavraki, Ken Goldberg |
| 2016 | IROS | Occlusion-aware multi-robot 3D tracking. | Karol Hausman, Gregory Kahn, Sachin Patil, Jrg Mller, Ken Goldberg, Pieter Abbeel, Gaurav S. Sukhatme |
| 2016 | ICRA | Automating multi-throw multilateral surgical suturing with a mechanical needle guide and sequential convex optimization. | Siddarth Sen, Animesh Garg, David V. Gealy, Stephen McKinley, Yiming Jen, Ken Goldberg |
| 2016 | SIGMOD | ActiveClean: An Interactive Data Cleaning Framework For Modern Machine Learning. | Sanjay Krishnan, Michael J. Franklin, Ken Goldberg, Jiannan Wang, Eugene Wu |
| 2016 | SIGMOD | PrivateClean: Data Cleaning and Differential Privacy. | Sanjay Krishnan, Jiannan Wang, Michael J. Franklin, Ken Goldberg, Tim Kraska |
| 2016 | WAFR | SWIRL: A SequentialWindowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards. | Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, Ken Goldberg |
| 2016 | WAFR | Synthesis of Energy-Bounded Planar Caging Grasps using Persistent Homology. | Jeffrey Mahler, Florian T. Pokorny, Sherdil Niyaz, Ken Goldberg |
| 2015 | ICRA | GP-GPIS-OPT: Grasp planning with shape uncertainty using Gaussian process implicit surfaces and Sequential Convex Programming. | Jeffrey Mahler, Sachin Patil, Ben Kehoe, Jur van den Berg, Matei T. Ciocarlie, Pieter Abbeel, Ken Goldberg |
| 2015 | IROS | Models of human-centered automation in a debridement task. | Kirk A. Nichols, Adithyavairavan Murali, Siddarth Sen, Ken Goldberg, Allison M. Okamura |
| 2015 | IROS | A paced shared-control teleoperated architecture for supervised automation of multilateral surgical tasks. | Kamran Shamaei, Yuhang Che, Adithyavairavan Murali, Siddarth Sen, Sachin Patil, Ken Goldberg, Allison M. Okamura |
| 2015 | ISRR | Transition State Clustering: Unsupervised Surgical Trajectory Segmentation for Robot Learning. | Sanjay Krishnan, Animesh Garg, Sachin Patil, Colin Lea, Gregory D. Hager, Pieter Abbeel, Ken Goldberg |
| 2015 | SIGITE | M-CAFE 1.0: Motivating and Prioritizing Ongoing Student Feedback During MOOCs and Large on-Campus Courses using Collaborative Filtering. | Mo Zhou, Alison Cliff, Sanjay Krishnan, Brandie Nonnecke, Camille Crittenden, Kanji Uchino, Ken Goldberg |
| 2014 | ICRA | Gaussian belief space planning with discontinuities in sensing domains. | Sachin Patil, Yan Duan, John Schulman, Ken Goldberg, Pieter Abbeel |
| 2014 | RecSys | A methodology for learning, analyzing, and mitigating social influence bias in recommender systems. | Sanjay Krishnan, Jay Patel, Michael J. Franklin, Ken Goldberg |
| 2014 | SIGMOD | A sample-and-clean framework for fast and accurate query processing on dirty data. | Jiannan Wang, Sanjay Krishnan, Michael J. Franklin, Ken Goldberg, Tim Kraska, Tova Milo |
| 2014 | WAFR | Scaling up Gaussian Belief Space Planning Through Covariance-Free Trajectory Optimization and Automatic Differentiation. | Sachin Patil, Gregory Kahn, Michael Laskey, John Schulman, Ken Goldberg, Pieter Abbeel |
| 2014 | WAFR | Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy. | Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg |
| 2013 | ICRA | Cloud-based robot grasping with the google object recognition engine. | Ben Kehoe, Akihiro Matsukawa, Sal Candido, James Kuffner, Ken Goldberg |
| 2013 | IROS | Sigma hulls for Gaussian belief space planning for imprecise articulated robots amid obstacles. | Alex X. Lee, Yan Duan, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg, Pieter Abbeel |
| 2012 | CHI | The arts, HCI, and innovation policy discourse: invited panel. | Jill Fantauzzacoffin, Joanna Berzowska, Ernest A. Edmonds, Ken Goldberg, D. Fox Harrell, Brian K. Smith |
| 2012 | ICRA | A robot path planning framework that learns from experience. | Dmitry Berenson, Pieter Abbeel, Ken Goldberg |
| 2012 | ICRA | Toward cloud-based grasping with uncertainty in shape: Estimating lower bounds on achieving force closure with zero-slip push grasps. | Ben Kehoe, Dmitry Berenson, Ken Goldberg |
| 2011 | ISRR | Grasping and Fixturing as Submodular Coverage Problems. | John D. Schulman, Ken Goldberg, Pieter Abbeel |
| 2004 | WAFR | Computing Deform Closure Grasps. | K. Gopalakrishnan, Ken Goldberg |
| 2004 | WAFR | Networked Robots: Ten Years of Experiments. | Ken Goldberg |
| 2003 | IROS | Sensorless planning for medical needle insertion procedures. | Ron Alterovitz, Ken Goldberg, Jean Pouliot, Richard Tascherau, I-Chow Hsu |
| 2003 | IROS | ShareCam part 1: interface, system architecture, and implementation of a collaboratively controlled robotic Webcam. | Dezhen Song, Ken Goldberg |
| 2003 | IROS | ShareCam part II: approximate and distributed algorithms for a collaboratively controlled robotic Webcam. | Dezhen Song, Anatoly Pashkevich, Ken Goldberg |
| 2002 | WAFR | Exact and Distributed Algorithms for Collaborative Camera Control. | Dezhen Song, A. Frank van der Stappen, Ken Goldberg |
| 2001 | CHI | Collaborative tele-directing. | Judith S. Donath, Dana Spiegel, Matt Lee, Kelly Dobson, Ken Goldberg |
| 2001 | IROS | Collaborative control of robot motion: robustness to error. | Ken Goldberg, Billy Chen |
| 2001 | IROS | Shape tolerance for robot gripper jaws. | Mike Tao Zhang, Lawrence Cheung, Ken Goldberg |
| 1998 | IROS | Estimating and optimizing throughput of a robotic part feeder using queueing theory. | Dadi Gudmundsson, Ken Goldberg |
| 1997 | ICRA | Tuning robotic part feeder parameters to maximize throughput. | Dadi Gudmundsson, Ken Goldberg |
| 1997 | IROS | Analysis of part motion on a longitudinally vibrating plate. | Dan Reznik, John F. Canny, Ken Goldberg |
| 1997 | ICRA | Simplifying complex CAD geometry with conservative bounding contours. | Yan Zhuang, Ken Goldberg, Mary Pickett |
| 1996 | SIGGRAPH | Legal tender. | Ken Goldberg, Eric Paulos, John F. Canny, Judith S. Donath, Mark Pauline |