Ken Goldberg's AutoLab at ICRA 2020

30 Nov, 2020

Ken Goldberg's AutoLab at ICRA 2020

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]

Robots of the Lost Arc: Learning to Dynamically Manipulate Fixed-Endpoint Ropes and Cables: Harry Zhang, Jeff Ichnowski, Daniel Seita, Jonathan Wang, Ken Goldberg [Version Submitted 11/2] [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 [Version Submitted 11/2] [Video] [Website]

LazyDAgger: Reducing Context Switches in Interactive Robot Imitation Learning. Ryan Hoque, Ashwin Balakrishna, Brijen Thananjeyan, Carl Putterman, Michael Luo, Daniel Seita, Daniel Brown, Ken Goldberg. [Version submitted 11/2][Video][Website (in progress)]

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.[Paper submitted, Nov 02] [Website(with video, in progress)]

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

(LAX-RAY) 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 [Version submitted, 11/02] [Video] [website]

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 [Submitted 11/02] [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 [Submitted 11/02] [Website] [Video]