Ken Goldberg's Autolab at ICRA 2021

11 Jun, 2021

Ken Goldberg's Autolab at ICRA 2021

Ken Goldberg's AutoLab has been hard at work! Check out this collection of AutoLab's amazing papers and presentations recently featured at ICRA (International Conference on Robots and Automation) 2021!

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

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 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. [Final Paper (arXiv)]
[Pre-recorded Conference Presentation (YouTube)]

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]

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]

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

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]

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]

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]

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!)]