News/Research

Ken Goldberg's AutoLab at ICRA2020

10 Jul, 2020

Ken Goldberg's AutoLab at ICRA2020

Ken Goldberg's AutoLab has been exceptionally busy! Check out this slew of amazing papers and presentations they presented at ICRA (International Conference on Robots and Automation) 2020!

ICRA is the largest robotics meeting in the world and is the flagship conference of the IEEE Robotics & Automation Society. This year, ICRA took place entirely online.

Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks. Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg. IEEE Robotics and Automation Letters and International Conference on Robotics and Automation (ICRA), Paris, France, May 2020 [PDF][10-min-Presentation-Video][Website]

Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones. Jingyi Xu, Michael Danielczuk, Eckehard Steinbach, Ken Goldberg. IEEE Conference on Robotics and Automation (ICRA), Paris, France, May 2020 [PDF][3-min-Summary-Video][10-min-Presentation-Video][Website]

Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects. Jingyi Xu, Michael Danielczuk, Jeffrey Ichnowski, Jeffrey Mahler, Eckehard Steinbach, Ken Goldberg. IEEE gConference on Robotics and Automation (ICRA), Paris, France, May 2020 [PDF][3-min-Summary-Video][10-min-Presentation-Video][Website]

Motion2Vec: Semi-Supervised Representation Learning from Surgical Videos. Ajay Kumar Tanwani, Pierre Sermanet, Andy Yan, Raghav Anand, Mariano Phielipp, Ken Goldberg, IEEE International Conference on Robotics and Automation (ICRA), 2020 [PDF][video][website]

Dex-Net AR: Distributed Deep Grasp Planning Using an Augmented Reality Application and a Smartphone Camera. Harry Zhang, Jeff Ichnowski, Yahav Avigal, Joseph Gonzalez, Ion Stoica, Ken Goldberg [pdf][Video]

Learning Interpretable and Transferable Rope Manipulation Policies Using Depth Sensing and Dense Object Descriptors. Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevine Stone, Joseph E. Gonzalez, Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA), 2020. [PDF][3-min-Summary-Video][Website][10-min-Presentation-Video]

Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing. Jeffrey Ichnowski, William Lee, Victor Murta, Ron Alterovitz, Joseph E Gonzalez, Ion Stoica, Ken Goldberg. IEEE Conference on Robotics and Automation (ICRA), Paris, France, May 2020 [PDF] [Summary Video] [Presentation Video] [Website]

GOMP: Grasp-Optimized Motion Planning for Bin Picking. Jeffrey Ichnowski, Mike Danielczuk, Jingyi Xu, Vishal Satish, and Ken Goldberg. IEEE Conference on Robotics and Automation (ICRA), Paris, France, May 2020 [PDF] [Summary Video] [Presentation Video] [Website]