Updated Publications Page for Ken Goldberg AUTOLab UC Berkeley (June 2021)

Everything below this line plus new papers available at link above.

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Editorial: Getting A Grip on Reality. Ken Goldberg. Science Robotics. V6(54), 26 May 2021. [full text]

A Roadmap for US Robotics – From Internet to Robotics. Henrik Christensen, Nancy Amato, Holly Yanco, Maja Mataric, Howie Choset, Ann Drobnis, Ken Goldberg, Jessy Grizzle, Gregory Hager, John Hollerbach, Seth Hutchinson, Venkat Krovi, Daniel Lee, Bill Smart and Jeff Trinkle. Foundations and Trends in Robotics. Vol. 8: No. 4, pp 307-424. 2020 Edition. Published 26 July 2021. link

VisuoSpatial Foresight for Physical Sequential Fabric Manipulation. Ryan Hoque, Daniel Seita, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg. Autonomous Robots. Vol 45(5), July 2021. [.pdf]

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]

19 Papers and Presentations - Spring 2021.

Papers and Presentations - Summer 2020.

How to Train Your Robot. Blooma Goldberg, Ken Goldberg, and Ashley Chase. Book illustrated by Dave Clegg. Lawrence Hall of Science, UC Berkeley. Nov 2019. [pdf]

Learning Ambidextrous Robot Grasping Policies. Jeffrey Mahler, Matthew Matl, Vishal Satish, Mike Danielczuk, Bill DeRose, Stephen McKinley, Ken Goldberg. Science Robotics Journal. V4(26). Jan 2019. [.pdf] | [cover] | [video]

Robots and the Return to Collaborative Intelligence (Commentary). Ken Goldberg. Nature Machine Intelligence Journal. volume 1, pages 2–4. January 2019. [.pdf]

Cultivating the Uncanny: The Telegarden and Other Oddities. Elizabeth Jochum and Ken Goldberg. Chapter 8 of Robots and Art: Exploring an Unlikely Symbiosis. Edited by Damith Herath, Christian Kroos, and Stelarc. Springer Press. Summer 2016. [.pdf]

Editorial: "One Robot is Robotics, Ten Robots is Automation." Ken Goldberg. IEEE Transactions on Automation Science and Engineering (T-ASE). Oct 1, 2016. [.pdf]

Papers Under Review (All Topics)

(Please contact Prof. Goldberg with inquiries about papers under review.)

New Papers To Appear (All Topics)

Published Papers (All Topics)

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, Cambridge, MA, Nov 2020. [Paper] [5min Video] [Website]

Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects Mike Danielczuk*, Ashwin Balakrishna*, Daniel Brown, Shivin Devgon, Ken Goldberg. Conference on Robot Learning (CoRL), Online MIT, Cambridge, MA, Nov 2020. [Paper] [5min Video] [Website].

X-RAY: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions. Michael Danielczuk, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, October 2020. [paper], [website].

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, Kastu Yamane, Soshi Iba, John Canny, Ken Goldberg.IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, October 2020. [paper], [website].

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 Ames, Ken Goldberg. Workshop on the Algorithmic Foundations of Robotics (WAFR), Oulu, Finland, July 2021. [paper]

Simulating Polyculture Farming to Tune Automation Policies for Plant Diversity and Precision Irrigation. Yahav Avigal, William Wong, Jensen Gao, Kevin Li, Mark Theis, Mark Preston, Grady Pierroz, Fang Shuo Deng, Ken Goldberg. Winner of Best Student Paper Award. 2020 IEEE Conference on Automation Science and Engineering (CASE), Online (Hong Kong) Aug 20-21, 2020. [Paper] [Presentation Video (15 mins)]

Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking. Kate Sanders, Michael Danielczuk, Jeffrey Mahler, Ajay Tanwani, Ken Goldberg. 2020 IEEE Conference on Automation Science and Engineering (CASE), Online (Hong Kong) Aug 20-21, 2020. [Paper] [Presentation Video (15 mins)]

Robust Task-Directed Grasp Planning as a Service. Jingyi Song, Ajay Tanwani, Jeff Ichnowski, Michael Danielczuk, Juan Aparicio Ojea, Ken Goldberg. 2020 IEEE Conference on Automation Science and Engineering (CASE), Online (Hong Kong) Aug 20-21, 2020. [Paper] [Presentation Video (15 mins)]

Orienting Novel Objects using Self-Supervised Rotation Estimation. Shivin Devgon, Jeffrey Ichnowski, Ashwin Balakrishna, Harry Zhang, Ken Goldberg. 2020 IEEE Conference on Automation Science and Engineering (CASE), Online (Hong Kong) Aug 20-21, 2020. [Paper] [Presentation Video (15 mins)] [Website]

Accelerating Grasp Exploration by Leveraging Learned Priors. Katherine Li*, Michael Danielczuk*, Ashwin Balakrishna*, Vishal Satish, Ken Goldberg. 2020 IEEE Conference on Automation Science and Engineering (CASE), Online (Hong Kong) Aug 20-21, 2020. [Paper] [Presentation Video (15 mins)]

Deep Learning Based Robot Grasping with a Programmable Logic Controller (PLC). Eugen Solowjow, Ines Ugalde, Yash Shahapurkar, Juan Aparicio, Jeff Mahler, Vishal Satish, Ken Goldberg, Heiko Claussen. 2020 IEEE Conference on Automation Science and Engineering (CASE), Online (Hong Kong) Aug 20-21, 2020. [Paper] [Presentation Video (15 mins)]

One-Shot Shape-Based Amodal-to-Modal Instance Segmentation. Andrew Li, Michael Danielczuk, Ken Goldberg. 2020 IEEE Conference on Automation Science and Engineering (CASE), Online (Hong Kong) Aug 20-21, 2020. [Paper] [Presentation Video (15 mins)]

VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation. Ryan Hoque*, Daniel Seita*, Ashwin Balakrishna, Aditya Ganapathi, Ajay Kumar Tanwani, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg. Robotics: Science and Systems (RSS). Oregon (Online), July 12-14, 2020. [Paper] [Website]

Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks. Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, and Ken Goldberg. IEEE Robotics and Automation Letters (RA-L). July 2020. [paper]

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 (RA-L) and IEEE International Conference on Robotics and Automation (ICRA). online (Paris, France). June 2020. [paper, code, slides]

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. IEEE International Conference on Robotics and Automation (ICRA). online (Paris, France). June 2020. [.pdf]

GOMP: Grasp-Optimized Motion Planning for Bin Picking. Jeffrey Ichnowski, Michael Danielczuk, Jingyi Xu, , Vishal Satish, Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA). online (Paris, France). June 2020. [.pdf]

Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects. Jingyi Xu, Michael Danielczuk, Jeffrey Ichnowski, Jeffrey Mahler, Eckehard Steinbach, Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA). online (Paris, France). June 2020. [.pdf]

6DFC: Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones. Jingyi Xu, Michael Danielczuk, Eckehard Steinbach, Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA). online (Paris, France). June 2020. [.pdf]

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. IEEE International Conference on Robotics and Automation (ICRA). online (Paris, France). June 2020. [.pdf]

Dex-Net AR: Distributed Deep Grasp Planning Using an Augmented Reality Application and a Smartphone Camera. Harry Zhang, Jeffrey Ichnowski, Yahav Avigal, Joseph Gonzales, Ion Stoica, and Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA). online (Paris, France). June 2020. [.pdf] [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). online (Paris, France). June 2020. [.pdf]

Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot. Minho Hwang∗, Daniel Seita∗, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg. Ken Goldberg. International Symposium on Medical Robotics (ISMR). online (Atlanta, GA). Nov 2020. [.pdf]

On-Policy Robot Imitation Learning from a Converging Supervisor. Ashwin Balakrishna*, Brijen Thananjeyan*, Jonathan Lee, Felix Li, Arsh Zahed, Joseph E. Gonzalez, Ken Goldberg. 3rd Conference on Robot Learning (CoRL). Osaka, Japan. Nov 2019. Proceedings of Machine Learning Research volume 100. Oral Presentation. Nov 2019. [.pdf]

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. International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019. [.pdf]

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 Canny, Ken Goldberg. International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019. [.pdf]

Mitigating Network Latency in Cloud-Based Teleoperation using Motion Segmentation and Synthesis. Nan Tian, Ajay Kumar Tanwani, Ken Goldberg and Somayeh Sojoudi. International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019. [.pdf]

Adversarial Grasp Objects. David Wang*, David Tseng*, Pusong Li*, Yiding Jiang*, Menglong Guo, Michael Danielczuk, Jeffrey Mahler, Jeffrey Ichnowski, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019. [.pdf]

Robust Toppling for Vacuum Suction Grasping. Christopher Correa, Jeffrey Mahler, Michael Danielczuk, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019. [.pdf]

Automated Extraction of Surgical Needles from Tissue Phantoms. Priya Sundaresan, Brijen Thananjeyan, Johnathan Chiu, Danyal Fer, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019. [.pdf]

Dex-Net MM: Deep Grasping for Surface Decluttering with a Low-Precision Mobile Manipulator. Benno Staub, Ajay Kumar Tanwani, Jeffrey Mahler, Michael Laskey, Yutaka Takaoka, Max Bajracharya and Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019. [.pdf]

Automating Planar Object Singulation by Linear Pushing with Single-point and Multi-point Contacts. Zisu Dong, Sanjay Krishnan, Sona Dolasia, Ashwin Balakrishna, Michael Danielczuk and Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019. [.pdf]

RAPID-MOLT: A Meso-scale, Open-source, Low-cost Testbed for Robot Assisted Precision Irrigation and Delivery. Marius Wiggert*, Leela Amladi*, Ron Berenstein, Stefano Carpin, Joshua Viers, Stavros Vougioukas, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019. [.pdf]

Multi-Task Hierarchical Imitation Learning for Home Automation. Roy Fox*, Ron Berenstein*, Ion Stoica, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019. [.pdf]

Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores. Tzvika Geft, Aviv Tamar, Ken Goldberg, Dan Halperin. IEEE International Conference on Automation Science and Engineering (CASE), Vancouver, Canada, August 2019. [.pdf]

On-Policy Dataset Synthesis for Learning Robot Grasping Policies Using Fully Convolutional Deep Networks. Vishal Satish, Jeffrey Mahler, Ken Goldberg. IEEE Robotics and Automation Letters (RA-L) February 2019 and IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019. [.pdf]

Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities. Brijen Thananjeyan, Ajay Tanwani, Jessica Ji, Danyal Fer, Vatsal Patel, Sanjay Krishnan, Ken Goldberg. International Symposium on Medical Robotics (ISMR), Atlanta, GA, April 2019. [.pdf]

Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter. Michael Danielczuk*, Andrey Kurenkov∗, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martín-Martín, Animesh Garg, Silvio Savarese, Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019. [paper.pdf] [supplement.pdf]

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. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019. [paper.pdf] [supplement.pdf]

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. IEEE International Conference on Robotics and Automation (ICRA), Montreal, Canada, May 2019. [.pdf]

Applying Machine Learning to Predict Future Adherence to Physical Activity Programs. Mo Zhou, Yoshimi Fukuoka, Ken Goldberg, Eric Vittinghoff, and Anil Aswani. BMC Medical Informatics and Decision Making Journal 19:169. Springer Nature. August, 2019 [.pdf] |

Robots and the Return to Collaborative Intelligence (Commentary). Ken Goldberg. Nature Machine Intelligence Journal. volume 1, pages 2–4. January 2019. link

A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning. Jonathan Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani, Ken Goldberg. Proceedings of the 13th Workshop on the Algorithmic Foundations of Robotics (WAFR), Mérida, México. Dec 2018. [.pdf]

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, and Sylvain Calinon. Proceedings of the 13th Workshop on the Algorithmic Foundations of Robotics (WAFR), Mérida, México. Dec 2018. [.pdf]

Robot Grasping Benchmarks, Protocols, and Metrics (Guest Editorial). Jeffrey Mahler, Rob Platt, Alberto Rodriguez, Matei Ciocarlie, Aaron Dollar, Renaud Detry, Maximo A. Roa, Holly Yanco, Adam Norton, Joe Falco, Karl van Wyk, Elena Messina, Jurgen 'Juxi' Leitner, Doug Morrison, Matt Mason, Oliver Brock, Lael Odhner, Andrey Kurenkov, Matthew Matl, Ken Goldberg. IEEE Transactions on Automation Science and Engineering (T-ASE). Volume 15. Issue 4. Oct, 2018. [.pdf]

SWIRL: A Sequential Windowed 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. The International Journal of Robotics Research (IJRR). Volume 37. Issue 9. July, 2018. [.pdf]

Synthesis of Energy-Bounded Planar Caging Grasps Using Persistent Homology. Jeffrey Mahler, Florian T. Pokorny, Sherdil Niyaz, Ken Goldberg. IEEE Transactions on Automation Science and Engineering (T-ASE), Volume 15, Issue 3, July 2018. [.pdf]

Multi-Robot Routing Algorithms for Robots Operating in Vineyards Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018. Best Paper Award. [.pdf]

FLUIDS: A First-Order Local Urban Intersection Driving Simulator. Hankun Zhao, Andrew Cui, Schuyler A. Cullen, Brian Paden, Michael Laskey, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018. Best Student Paper Award. [.pdf]

Learning 2D Surgical Camera Motion From Demonstrations. Jessica J. Ji, Sanjay Krishnan, Vatsal Patel, Danyal Fer, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018. Finalist, Best Applications Paper Award. [.pdf]

Constraint Estimation and Derivative-Free Recovery for Robot Learning from Demonstrations. Jonathan Lee, Michael Laskey, Roy Fox, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018. [.pdf]

Towards Automating Precision Irrigation: Deep Learning to Infer Local Soil Moisture Conditions from Synthetic Aerial Agricultural Images. David Tseng*, David Wang*, Carolyn Chen, Lauren Miller, William Song, Joshua Viers, Stavros Vougioukas, Stefano Carpin, Juan Aparicio Ojea, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018. [.pdf]

Linear Push Policies to Increase Grasp Access for Robot Bin Picking. Michael Danielczuk, Jeffrey Mahler, Chris Correa, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018. [.pdf]

Dex-Net as a Service (DNaaS): A Cloud-Based Robust Robot Grasp Planning System. Pusong Li, Bill DeRose, Jeffrey Mahler, Juan Aparicio Ojea, Ajay Kumar Tanwani, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018. [.pdf]

Learning Traffic Behaviors for Simulation via Extraction of Vehicle Trajectories from Online Video Streams. Xinhe (Jerry) Ren*, David Wang*, Michael Laskey, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018. [.pdf]

An Open-Access Passive Modular Tool Changing System for Mobile Manipulation Robots. Ron Berenstein, Averell Wallach, Pelagie Elimbi Moudio, Peter Cuellar, and Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018. [.pdf]

A Cloud-Based Robust Semaphore Mirroring System for Social Robots. Nan Tian*, Benjamin Kuo*, Xinhe Ren, Michael Yu, Robert Zhang, Bill Huang, Ken Goldberg, and Somayeh Sojoudi. IEEE International Conference on Automation Science and Engineering (CASE), Munich, Germany, August 2018. [.pdf]

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 Gealy, Ken Goldberg. IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 2018. [.pdf]

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. IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 2018. [.pdf]

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 Canny, Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA), May 2018. [.pdf]

Robustly Adjusting Indoor Drip Irrigation Emitters with the Toyota HSR Robot. Ron Berenstein, Roy Fox, Stephen McKinley, Stefano Carpin, Ken Goldberg. IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 2018. [.pdf]

Routing Algorithms for Robot Assisted Precision Irrigation. Thomas C. Thayer, Stavros Vougioukas, Ken Goldberg, Stefano Carpin. IEEE International Conference on Robotics and Automation, Brisbane, Australia, May 2018. [.pdf]

SPRK: A Low-Cost Stewart Platform For Motion Study In Surgical Robotics. Vatsal Patel*, Sanjay Krishnan*, Aimee Goncalves, Ken Goldberg. International Symposium on Medical Robotics (ISMR), Atlanta, GA. March 1-3, 2018. [.pdf]

Using Intermittent Synchronization to Compensate for Rhythmic Body Motion During Autonomous Surgical Cutting and Debridement. Vatsal Patel*, Sanjay Krishnan*, Aimee Goncalves, Carolyn Chen, Walter Doug Boyd, Ken Goldberg. International Symposium on Medical Robotics (ISMR), Atlanta, GA. March 1-3, 2018. [.pdf]

Ray RLLib: A Composable and Scalable Reinforcement Learning Library. Eric Liang, Richard Liaw, Robert Nishihara, Philipp Moritz, Roy Fox, Joseph Gonzalez, Ken Goldberg, Ion Stoica. Poster at NIPS 2017 Deep RL Symposium, and arXiv:1712.09381, Dec, 2017. [.pdf]

Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning. Sanjay Krishnan, Animesh Garg, Sachin Patil, Colin Lea, Gregory Hager, Pieter Abbeel, Ken Goldberg. International Journal of Robotics Research (IJRR), v36, Issue 13, November, 2017. [.pdf]

DART: Noise Injection for Robust Imitation Learning. Michael Laskey, Jonathan Lee, Roy Fox, Anca Dragan, Ken Goldberg. 1st Conference on Robot Learning (CoRL). Mt. View, CA. Nov 2017. Proceedings of Machine Learning Research volume 78. [.pdf]

Learning Deep Policies for Robot Bin Picking by Simulating Robust Grasping Sequences Jeffrey Mahler, Ken Goldberg. 1st Conference on Robot Learning (CoRL). Mt. View, CA. Nov 2017. Proceedings of Machine Learning Research volume 78. [.pdf]

DDCO: Discovery of Deep Continuous Options for Robot Learning from Demonstrations. Sanjay Krishnan*, Roy Fox*, Ion Stoica, Ken Goldberg. 1st Conference on Robot Learning (CoRL). Mt. View, CA. Nov 2017. Proceedings of Machine Learning Research volume 78. [.pdf]

A Berkeley View of Systems Challenges for AI. Ion Stoica, Dawn Song, Raluca Ada Popa, David A. Patterson, Michael W. Mahoney, Randy H. Katz, Anthony D. Joseph, Michael Jordan, Joseph M. Hellerstein, Joseph Gonzalez, Ken Goldberg, Ali Ghodsi, David E. Culler and Pieter Abbeel. Under review by ACM (currently available as EECS Technical Report No. UCB/EECS-2017-159, October 16, 2017) [.pdf]

Overcoming Citizen Mistrust and Enhancing Democratic Practices: Results from the E-participation Platform Mexico Participa. Maria Elena Meneses, Brandie Nonnecke, Alejandro Martin del Campo, Sanjay Krishnan, Jay Patel, Moonhyok Kim, Camille Crittenden, Ken Goldberg. Journal of Information Technology and International Development. Volume 13, Issue 1. August 2017. [.pdf]

Malasakit 1.0: A Participatory Online Platform for Crowdsourcing Disaster Risk Reduction Strategies in the Philippines. Brandie M. Nonneckea, Shrestha Mohantya, Andrew Leea, Jonathan Leea, Sequoia Beckmana, Justin Mi, Sanjay Krishnana, Rachel Edita Roxas, Nathaniel Ocob, Camille Crittendena, and Ken Goldberg. IEEE Global Humanitarian Technology Conference (GHTC). San Jose, CA. October 2017. [.pdf]

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, and Ken Goldberg. Proceedings of the 18th Annual ACM Conference on Information Technology Education. Rochester, NY. October 2017. [.pdf]

An Algorithm for Transferring Parallel-Jaw Grasps Between 3D Mesh Subsegments. Matthew Matl, Jeffrey Mahler, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Xi'an, China, August 2017. [.pdf]

An Algorithm and User Study for Teaching Bilateral Manipulation via Iterated Best Response Demonstrations. Carolyn Chen, Sanjay Krishnan, Michael Laskey, Roy Fox, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Xi'an, China, August 2017. [.pdf]

Statistical Data Cleaning for Deep Learning of Automation Tasks from Demonstrations. Caleb Chuck, Michael Laskey, Sanjay Krishnan, Ruta Joshi, Roy Fox, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Xi'an, China, August 2017. [.pdf]

Using dVRK Teleoperation to Facilitate Deep Learning of Automation Tasks for an Industrial Robot. Jacky Liang, Jeffrey Mahler, Michael Laskey, Pusong Li, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Xi'an, China, August 2017. Finalist, Best Student Paper Award. [.pdf]

EchoBot: Facilitating Data Collection for Robot Learning with the Amazon Echo. Rishi Kapadia, Sam Staszak, Lisa Jian, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Xi'an, China, August 2017. [.pdf]

Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics. Jeffrey Mahler, Jacky Liang, Sherdil Niyaz, Michael Laskey, Richard Doan, Xinyu Liu, Juan Aparicio Ojea, Ken Goldberg. Robotics: Science and Systems (RSS). MIT Cambridge, MA. July 2017. [.pdf]

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 Dragan, Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA). May 2017. [.pdf]

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. IEEE International Conference on Robotics and Automation (ICRA). May 2017. [.pdf]

Design of Parallel-Jaw Gripper Tip Surfaces for Robust Grasping. Menglong Guo, David V. Gealy, Jacky Liang, Jeffrey Mahler, Aimee Goncalves, Stephen McKinley, Ken Goldberg. 2017 IEEE International Conference on Robotics and Automation (ICRA). May 2017. [.pdf]

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 IEEE International Conference on Robotics and Automation (ICRA). May 2017. [.pdf]

SWIRL: A Sequential Windowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards. Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, and Ken Goldberg. Workshop on Algorithmic Foundations of Robotics (WAFR). San Francisco, CA. Dec 2016. [.pdf]

Synthesis of Energy-Bounded Planar Caging Grasps using Persistent Homology. Jeff Mahler, Florian T. Pokorny, Sherdil Niyaz, Ken Goldberg. Workshop on Algorithmic Foundations of Robotics (WAFR). San Francisco, CA. Dec 2016. [.pdf]

Large-Scale Supervised Learning of the Grasp Robustness of Surface Patch Pairs. Daniel Seita, Florian T. Pokorny, Jeffrey Mahler, Danica Kragic, Michael Franklin, John Canny, and Ken Goldberg. IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR). San Francisco, CA. Dec 2016. [.pdf]

Robot Grasping in Clutter: Using a Hierarchy of Supervisors for Learning from Demonstrations. Michael Laskey, Jonathan Lee, Caleb Chuck, David Gealy, Wesley Hsieh, Florian T. Pokorny, Anca D. Dragan, and Ken Goldberg. IEEE International Conference on Automation Science and Engineering, (CASE), Dallas, TX. Aug 2016. [.pdf]

Privacy-Preserving Cloud-Based Grasp Planning in the Cloud. Jeffrey Mahler, Brian Hou, Sherdil Niyaz, Florian T. Pokorny, Ramu Chandra, Ken Goldberg. IEEE International Conference on Automation Science and Engineering, (CASE), Dallas, TX. Aug 2016. [.pdf]

Co-Robotic Device for Automated Tuning of Emitters to Enable Precision Irrigation. David V. Gealy, Stephen McKinley, Menglong Guo, Lauren Miller, Stavros Vougioukas, Joshua Viers, Stefano Carpin, Ken Goldberg. IEEE International Conference on Automation Science and Engineering, (CASE), Dallas, TX. Aug 2016. [.pdf]

Tumor Localization using Automated Palpation with Gaussian Process Adaptive Sampling. Animesh Garg, Siddarth Sen, Rishi Kapadia, Yiming Jen, Stephen McKinley, Lauren Miller, Ken Goldberg. IEEE International Conference on Automation Science and Engineering, (CASE), Dallas, TX. Aug 2016. [.pdf]

An Interchangeable Surgical Instrument System with Application to Supervised Automation of Multilateral Tumor Resection. Stephen McKinley, Animesh Garg, Siddarth Sen, David V. Gealy, Jonathan P. McKinley, Yiming Jen, Menglong Guo, Doug Boyd, Ken Goldberg. IEEE International Conference on Automation Science and Engineering, (CASE), Dallas, TX. Aug 2016. [.pdf]

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 Kroeger, James Kuffner, Ken Goldberg. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. Finalist for Best Manipulation Paper Award. [.pdf]

Energy-Bounded Caging: Formal Definition and 2D Energy Lower Bound Algorithm Based on Weighted Alpha Shapes. Jeffrey Mahler, Florian T. Pokorny, Zoe McCarthy, A. Frank van der Stappen, Ken Goldberg. IEEE Robotics and Automation Letters (RA-L). Accepted December 2016. (Also accepted for presentation at the IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016.) [.pdf]

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. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. Finalist for Best Human-Robot Interaction Paper Award. [.pdf]

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. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. [.pdf]

Automating Multiple-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. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. [.pdf]

High-Dimensional Winding-Augmented Motion Planning with 2D Topological Task Projections and Persistent Homology. Florian T. Pokorny, Danica Kragic, Lydia E. Kavraki, Ken Goldberg. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. [.pdf]

Topological Trajectory Clustering with Relative Persistent Homology. Florian T. Pokorny, Ken Goldberg, Danica Kragic. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. [.pdf]

The California Report Card: A Case Study. Brandie Nonnecke, Sanjay Krishnan, Camille Crittenden, and Ken Goldberg. in Civic Media: Technology, Design, Practice. Eric Gordon and Paul Mihailidis, eds., MIT Press, Spring 2016. [.pdf]

Navigating the New RAS Publications Landscape. Antonio Bicchi, Ken Goldberg, Eugenio Guglielmelli, Allison Okamura, Frank Park. IEEE Robotics and Automation Magazine. December, 2015. [.pdf]

DevCAFE 1.0: A Participatory Platform for Assessing Development Initiatives in the Field. Brandie Nonnecke*, Sanjay Krishnan*, Jay Patel, Mo Zhou, Laura Byaruhanga, Dorothy Masinde, Maria Elena Meneses, Alejandro Martin del Campo, Camille Crittenden, Ken Goldberg. Proceedings of the IEEE Global Humanitarian Technology Conference (GHTC), Seattle, WA. Oct 2015. Best Conference Paper. [.pdf]

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. Proceedings of the 16th Annual ACM Conference on Information Technology Education, SIGITE 15, Chicago, September, 2015. [.pdf]

Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy. Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg. IEEE Transactions on Automation Science and Engineering (T-ASE), Volume 12, Issue 4, pp. 1332-1345. October 2015. [.pdf]

Transition State Clustering: Unsupervised Surgical Trajectory Segentation For Robot Learning. Sanjay Krishnan*, Animesh Garg*, Sachin Patil, Colin Lea, Gregory Hager, Pieter Abbeel, Ken Goldberg. International Symposium on Robotics Research (ISRR). Genoa, Italy. September, 2015. [.pdf]

Multi-Armed Bandit Models for 2D Grasp Planning with Uncertainty. Michael Laskey, Jeff Mahler, Zoe McCarthy, Florian T. Pokorny, Sachin Patil, Jur Van Den Berg, Danica Kragic, Pieter Abbeel, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE). Aug. 2015. [.pdf]

A Disposable Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery. Stephen McKinley, Animesh Garg, Siddarth Sen, Rishi Kapadia, Adithyavairavan Murali, Kirk Nichols, Susan Lim, Sachin Patil, Pieter Abbeel, Allison M. Okamura, Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE). Aug. 2015. [.pdf]

Video: Robot-Assisted Surgery: Autonomous Tumor Localization and Extraction: Palpation, Incision, Debridement and Adhesive Closure with the da Vinci Research Kit. Best Video Award. Hamlyn Surgical Robotics Conference, London, June 2015. Stephen McKinley, Siddarth Sen, Animesh Garg, Yiming Jen, David Gealy, Pieter Abbeel, Ken Goldberg. [video (3 mins)]

Automated Delivery Instrument for Stem Cell Treatment using the da Vinci Robotic Surgical System. Stephen McKinley, Animesh Garg, Susan Lim, Sachin Patil, Ken Goldberg. 13th Annual Meeting of the International Society for Stem Cell Research. Stockholm, Sweden. June 2015. [refereed poster]

Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping. Benjamin Charrow, Gregory Kahn, Sachin Patil, Sikang Liu, Ken Goldberg, Pieter Abbeel, Nathan Michael, Vijay Kumar. Robotics: Science and Systems (RSS) Conference. July. 2015. [.pdf]

Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms Adithyavairavan Murali, Siddarth Sen, Ben Kehoe, Animesh Garg, Seth McFarland, Sachin Patil, W. Douglas Boyd, Susan Lim, Pieter Abbeel, Ken Goldberg. IEEE International Conference on Robotics and Automation. May 2015. * Finalist, Best Medical Robotics Paper. * [.pdf]

GP-GPIS-OPT: Grasp Planning Under Shape Uncertainty Using Gaussian Process Implicit Surfaces and Sequential Convex Programming Jeffrey Mahler, Sachin Patil, Ben Kehoe, Jur van den Berg, Matei Ciocarlie, Pieter Abbeel, Ken Goldberg. IEEE International Conference on Robotics and Automation. May. 2015. [.pdf]

A Survey of Research on Cloud Robotics and Automation. Ben Kehoe, Sachin Patil, Pieter Abbeel, Ken Goldberg. IEEE Transactions on Automation Science and Engineering (T-ASE): Special Issue on Cloud Robotics and Automation. Vol. 12, no. 2. Apr. 2015. [.pdf]

Cloud-Based Grasp Analysis and Planning for Toleranced Parts Using Parallelized Monte Carlo Sampling. Ben Kehoe, Deepak Warrier, Sachin Patil, Ken Goldberg. To Appear: IEEE Transactions on Automation Science and Engineering (T-ASE): Special Issue on Cloud Robotics and Automation. Vol. 12, no. 2. Apr. 2015. [.pdf]

Material Evaluation of PC-ISO for Customized, 3D Printed, Gynecologic 192Ir HDR Brachytherapy Applicators. Katherine Mellis, Timmy Siauw, Atchar Sudhyadhom, Rajni Sethi, I-Chow Hsu, Jean Pouliot, Animesh Garg, Ken Goldberg, J. Adam Cunha. Journal of Applied Clinical Medical Physics (JACMP). Volume 16, Number 1. January 2015. [.pdf]

Two Large Open-Access Datasets for Fitts' Law of Human Motion and a Succinct Derivation of the Square-Root Variant. Ken Goldberg, Siamak Faridani, and Ron Alterovitz. IEEE Transactions on Human-Machine Systems. V 45(1). pp. 62-73. February 2015. [.pdf]

Potential-Based Bounded-Cost Search and Anytime Non-Parametric A*. Roni Stern, Ariel Felner, Jur van den Berg, Rami Puzis, Rajat Shah, Ken Goldberg. Artificial Intelligence (AI). Volume 214, September 2014, Pages 1-25. [.pdf]

Efficient Proximity Probing Algorithms for Metrology. Aviv Adler, Fatemeh Panahi, A. Frank van der Stappen, and Ken Goldberg. IEEE Transactions on Automation Science and Engineering. Volume 12, Issue 1. January 2015. [.pdf]

Learning Accurate Kinematic Control of Cable-Driven Surgical Robots Using Data Cleaning and Gaussian Process Regression. Jeffrey Mahler, Sanjay Krishnan, Michael Laskey, Siddarth Sen, Adithyavairavan Murali, Ben Kehoe, Sachin Patil, Jiannan Wang, Mike Franklin, Pieter Abbeel, Ken Goldberg. IEEE Int'l Conference on Automation Science and Engineering (CASE). Taipei, Taiwan. August 2014. [.pdf]

Exact Reachability Analysis for Planning Skew-Line Needle Arrangements for Automated Brachytherapy. Animesh Garg, Timmy Siauw, Guang Yang, Sachin Patil, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Alper Atamturk, Ken Goldberg. IEEE Int'l Conference on Automation Science and Engineering (CASE). Taipei, Taiwan. August 2014. [.pdf]

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. Workshop on Algorithmic Foundations of Robotics (WAFR). Istanbul, Turkey. August 2014. [.pdf]

Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy. Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg. Workshop on Algorithmic Foundations of Robotics (WAFR). Istanbul, Turkey. August 2014. [.pdf]

Autonomous Multilateral Debridement with the Raven Surgical Robot. Ben Kehoe, Gregory Kahn, Jeffrey Mahler, Jonathan Kim, Alex Lee, Anna Lee, Keisuke Nakagawa, Sachin Patil, W. Douglas Boyd, Pieter Abbeel, Ken Goldberg. IEEE Int'l Conference on Robotics and Automation, (ICRA), Hong Kong. June 2014. [.pdf]

Gaussian Belief Space Planning with Discontinuities in Sensing Domains. Sachin Patil, Yan Duan, John Schulman, Ken Goldberg, Pieter Abbeel. IEEE Int'l Conference on Robotics and Automation, (ICRA), Hong Kong. June 2014. [.pdf]

Planning Locally Optimal, Curvature-Constrained Trajectories in 3D. using Sequential Convex Optimization. Yan Duan, Sachin Patil, John Schulman, Ken Goldberg, Pieter Abbeel IEEE Int'l Conference on Robotics and Automation, (ICRA), Hong Kong. June 2014. [.pdf]

Motion Planning with Sequential Convex Optimization and Convex Collision Checking. John Schulman, Yan Duan, Jonathan Ho, Alex Lee, Ibrahim Awwal, Henry Bradlow, Jia Pan, Sachin Patil, Ken Goldberg and Pieter Abbeel. International Journal of Robotics Research (IJRR). Vol. 33(7), June 2014. [.pdf]

Algorithms for Visual Tracking of Visitors Under Variable-Lighting Conditions for a Responsive Audio Art Installation. Andrew B. Godbehere and Ken Goldberg. Controls and Art Book. Amy LaViers and Magnus Egerstedt, eds. Springer. 2014. [.pdf]

An Algorithm for Computing Customized 3D Printed Implants with Curvature Constrained Channels for Enhancing Intracavitary Brachytherapy Radiation Delivery. Animesh Garg, Sachin Patil, Timmy Siauw, J. Adam M. Cunha, I-Chow Hsu, Pieter Abbeel, Jean Pouliot, and Ken Goldberg. IEEE Int'l Conference on Automation Science and Engineering, Madison, WI, August 2013. [.pdf]

Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy. Animesh Garg, Timmy Siauw, Dmitry Berenson, J.Adam M. Cunha, I-Chow Joe Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg. IEEE Transactions on Automation Science and Engineering. V10(4), Oct 2013. pp. 948-956. [.pdf]

Putting the Turing into Manufacturing: Recent Developments in Algorithmic Automation. Ken Goldberg. Invited Keynote: Extended Abstract. ACM Symposium on Computational Geometry (SoCG). Rio de Janiero, Brazil. June 2013. [.pdf]

Cloud-Based Robot Grasping with the Google Object Recognition Engine. Ben Kehoe, Akihiro Matsukawa, Sal Candido, James Kuffner, and Ken Goldberg. IEEE International Conference on Robotics and Automation. Karlsruhe, Germany. May 2013. [.pdf]

An Efficient Proximity Probing Algorithm for Metrology. Fatemeh Panahi, Aviv Adler, A. Frank van der Stappen, and Ken Goldberg. IEEE Int'l Conference on Automation Science and Engineering, Madison, WI, August 2013. Finalist for Best Student Paper Award. [.pdf]

Gaussian Belief Space Planning for Imprecise Articulated Robots. Alex Lee, Sachin Patil, John Schulman, Zoe McCarthy, Jur van den Berg, Ken Goldberg, and Pieter Abbeel. IEEE/RSJ Int'l Conference on Intelligent Robots and Systems (IROS), Tokyo, November 2013. [.pdf]

Learning for Robotics and Automation

A Cloud Robot System Accessing Learned Grasps from Dexterity Network 1.0 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 IEEE International Conference on Robotics and Automation (ICRA). May 2017. [.pdf]

Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations. Jur van den Berg, Stephen Miller, Daniel Duckworth, Humphrey Hu, Andrew Wan, Xiao-Yu Fu, Ken Goldberg, Pieter Abbeel. IEEE International Conference on Robotics and Automation (ICRA). Anchorage, AL. May 2010. Best Medical Robotics Paper Award. [0.5MB .pdf]

Bayesian Grasping. Kenneth Y. Goldberg and Matthew T. Mason. IEEE International Conference on Robotics and Automation, May 1990. [.pdf]

Using a Neural Network to Learn the Dynamics of the CMU Direct-Drive Arm II. Kenneth Y. Goldberg and Barak Pearlmutter, Advances in Neural Information Processing Systems (NeurIPS). Morgan Kaufmann. 1988. [.pdf]

Medical Robotics: Radiation Delivery, Steerable Needles, Automating Surgical Subtasks

Initial Experiments toward Automated Robotic Implantation of Skew-Line Needle Arrangements for HDR Brachytherapy. Animesh Garg, Timmy Siauw, Dmitry Berenson, Adam Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, and Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE), Seoul, Korea. August, 2012. Best Applications Paper Award. [.pdf]

NPIP: A Skew-Line Needle Configuration Optimization System for HDR Brachytherapy. Timmy Siauw, Adam Cunha, Dmitry Berenson, Alper Atamturk, I-Chow Joe Hsu, Ken Goldberg, Jean Pouliot. Medical Physics, 39, 4339. July 2012. [.pdf]

Robot-Assisted Needle Steering. Kyle B. Reed, Ann Majewicz, Vinutha Kallem, Ron Alterovitz, Ken Goldberg, Noah J. Cowan, and Allison M. Okamura. IEEE Robotics and Automation Magazine. V18:4, pp 35-46. December 2011. [.pdf]

EG-RRT: Environment-Guided Random Trees for Kinodynamic Motion Planning with Uncertainty and Obstacles. Leonard Jaillet, Judy Hoffman, Jur van den Berg, Pieter Abbeel, Josep M. Porta, Ken Goldberg. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, CA, 2011. [.pdf]

IPIP: A New Approach to Inverse Planning for HDR Brachytherapy by Directly Optimizing Dosimetric Indices. Timmy Siauw, J. Adam M. Cunha, Alper Atamturk, I-Chow Hsu, Jean Pouliot, and Ken Goldberg. Medical Physics. Vol. 38 (7). July 2011. [.pdf]

LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information. Jur van den Berg, Pieter Abbeel, Ken Goldberg. International Journal of Robotics Research. Vol. 30 (6). June 2011. [.pdf]

LQG-Based Planning, Sensing, and Control of Steerable Needles. Jur van den Berg, Sachin Patil, Ron Alterovitz, Pieter Abbeel, Ken Goldberg. Ninth Workshop on Algorithmic Foundations of Robotics (WAFR). Singapore. December 2010. [.pdf]

LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information. Jur van den Berg, Pieter Abbeel, Ken Goldberg. Robotics: Science and Systems (RSS). Zaragosa, Spain. June 2010. (see extended journal version above). [.pdf]

Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, Ken Goldberg. International Journal of Robotics Research. October 2009. [0.5MB .pdf]

Planning "Fireworks" Trajectories for Steerable Needles to Reduce Patient Trauma. Jijie Xu, Vincent Duindam, Ron Alterovitz, Adam Cunha, Jean Pouliot, I-Chow Joe Hsu, Ken Goldberg. IEEE International Conference on Intelligent Robots and Systems (IROS). St Louis, Oct 2009. [0.4MB .pdf]

Surgical Retraction of Non-Uniform Deformable Layers of Tissue: 2D Robot Grasping and Path Planning. Rik Jansen, Kris Hauser, Nuttapong Chentanez, Frank van der Stappen, Ken Goldberg. IEEE International Conference on Intelligent Robots and Systems (IROS). St Louis, Oct 2009. [0.4MB .pdf]

Interactive Simulation of Surgical Needle Insertion and Steering. Nuttapong Chentanez, Ron Alterovitz, Daniel Ritchie, Lita Cho, Kris Hauser, Ken Goldberg, JonathonShewchuk, James O'Brien. Proceedings of ACM SIGGRAPH , Annual Conference Series. (New Orleans, Louisiana), Aug. 2009. [pdf, videos]

Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths. Kris Hauser, Ron Alterovitz, Nuttapong Chentanez Allison Okamura, and Ken Goldberg. Robots: Science and Systems (RSS) Conference. Seattle, WA, June 2009. [1.4MB .pdf]

Guiding Medical Needles Using Single-Point Tissue Manipulation, Meysam Torabi, Kris Hauser, Ron Alterovitz, Vincent Duindam, and Ken Goldberg. IEEE International Conference on Robotics and Automation. Kobe, Japan, May, 2009. Best Medical Robotics Paper Award Finalist. [400KB .pdf]

3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics. Vincent Duindam, Jijie Xu, Ron Alterovitz, Shankar Sastry, and Ken Goldberg. Eighth International Workshop on Algorithmic Foundations of Robotics (WAFR), Guanajuato, Mexico, December, 2008. [1.2MB .pdf]

Motion Planning Under Uncertainty for Image-Guided Medical Needle Steering. Ron Alterovitz, Michael Branicky, Ken Goldberg. International Journal of Robotics Research. 27:1361-1374, Nov, 2008. [0.5MB .pdf]

Sensorless Motion Planning for Medical Needle Insertion in Deformable Tissue. Ron Alterovitz, Ken Goldberg, Jean Pouliot, and I-Chow Hsu. IEEE Transactions on Information Technology in Biomedicine. Vol. 13(2), 217-225. March 2009. [12MB .pdf]

Motion Planning For Steerable Needles in 3D Environments with Obstacles Using Rapidly-Exploring Random Trees and Backchaining. Jijie Xu, Vincent Duindam, Ron Alterovitz, and Ken Goldberg. IEEE Conference on Automation Science and Engineering (CASE). August 2008. [0.8MB .pdf]

Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles, Vincent Duindam, Ron Alterovitz, Shankar Sastry, and Ken Goldberg. IEEE ICRA. May 2008. [600KB .pdf]

The Stochastic Motion Roadmap: A Sampling Framework for Planning with Markov Motion Uncertainty, Ron Alterovitz, Thierry Simeon, and Ken Goldberg. Robotics Science and Systems. June 2007, Atlanta, GA. [200KB .pdf]

Optimization of HDR Brachytherapy Dose Distributions using Linear Programming with Penalty Costs. Ron Alterovitz, Etienne Lessard, Jean Pouliot, I-Chow Joe Hsu, James F. O'Brien, and Ken Goldberg. Medical Physics Journal. vol. 33, no. 11, pp. 4012-4019, Nov. 2006. [500KB .pdf]

Registration of MR prostate images with biomechanical modeling and nonlinear parameter estimation. Ron Alterovitz, Ken Goldberg, Jean Pouliot, I-Chow Joe Hsu, Yongbok Kim, Susan Moyher Noworolski, and John Kurhanewicz. Medical Physics Journal, vol. 33(2), pp. 446-454, February 2006. [1MB .pdf]

Steering Flexible Needles Under Markov Motion Uncertainty, Ron Alterovitz and Andrew Lim and Ken Goldberg and Gregory S. Chirikjian and Allison M. Okamura, IEEE International Conference on Intelligent Robotics and Systems (IROS), August 2005. [0.2MB .pdf]

Planning for Steerable Bevel-tip Needle Insertion through 2D Soft Tissue with Obstacles, Ron Alterovitz, Ken Goldberg, and Allison Okamura, IEEE International Conference on Robotics and Automation (ICRA), April 2005. [0.4MB .pdf]

Sensorless Planning for Medical Needle Insertion Procedures, Ron Alterovitz, Ken Goldberg, Jean Pouliot, Richard Taschereau, and I-Chow Hsu, IEEE/RSJ International Conference on Robots and Systems, October 2003. [0.5MB .pdf]

Cloud Robotics, Networked Telerobotics, and Collaborative Algorithms

Robots and the Return to Collaborative Intelligence (Commentary). Ken Goldberg. Nature Machine Intelligence Journal. volume 1, pages 2–4. January 2019. link

Cloud Robotics and Automation: A Survey of Related Work. K. Goldberg and B. Kehoe. EECS Department, University of California, Berkeley, Technical Report UCB/EECS-2013-5. January 2013. [.pdf]

Using a Social Media Platform to Explore How Social Media Can Enhance Primary and Secondary Learning. Sanjay Krishnan, Yuko Okubo, Kanji Uchino, and Ken Goldberg. Learning International Networks Consortium (LINC) 2013 Conference. MIT, Cambridge, MA. June 2013. [.pdf]

Distributed Spectral Dimensionality Reduction for Visualizing Textual Data. Sanjay Krishnan and Ken Goldberg. International Conference on Machine Learning (ICML) Workshop on Spectral Learning Methods, Atlanta, GA, June 2013. [.pdf]

Visual Tracking of Human Visitors under Variable-Lighting Conditions for a Responsive Audio Art Installation. Andrew B. Godbehere, Akihiro Matsukawa, Ken Goldberg. American Control Conference (ACC). Montreal, Canada. June 2012. [.pdf]

A Networked Telerobotic Observatory for Collaborative Remote Observation of Avian Activity and Range Change. Siamak Faridani, Bryce Lee, Selma Glasscock, John Rappole, Dezhen Song, Ken Goldberg. IFAC Conference on Networked Robots (NetRob). Denver, CO. Oct 2009. [1.4MB .pdf]

Nonparametric Belief Propagation for Distributed Tracking of Robot Networks with Noisy Inter-Distance Measurements. Jeremy Schiff, Erik Sudderth, Ken Goldberg. IEEE International Conference on Intelligent Robots and Systems (IROS). St Louis, Oct 2009. [1.1MB .pdf]

Respectful Cameras: Detecting Visual Markers in Real-Time to Address Privacy Concerns. Jeremy Schiff, Marci Meingast, Deirdre K. Mulligan, Shankar Sastry, and Ken Goldberg. In: Protecting Privacy in Video Surveillance, Andrew W. Senior, Springer. June, 2009. [1.8MB .pdf]

Actuator Networks for Navigating an Unmonitored Mobile Robot. Jeremy Schiff, Anand Kulkarni, Danny Bazo, Vincent Duindam, Ron Alterovitz, Dezhen Song, Ken Goldberg. IEEE Conference on Automation Science and Engineering (CASE). August 2008. [1.6MB .pdf]

System and Algorithms for an Autonomous Observatory Assisting the Search for the Ivory-Billed Woodpecker. Dezhen Song, Ni Qin, Yiliang Xu, Chang Young Kim, David Luneau, and Ken Goldberg. IEEE Conference on Automation Science and Engineering (CASE). August 2008. [1.4MB .pdf]

Hydra: A Framework and Algorithms for Mixed-Initiative UAV-Assisted Search and Rescue. Ephrat Bitton and Ken Goldberg. IEEE Conference on Automation Science and Engineering (CASE). August 2008. [0.5MB .pdf]

Systems, Control Models, and Codec for Collaborative Observation of Remote Environments with an Autonomous Networked Robotic Camera. Dezhen Song, Ni Qin, and Ken Goldberg. Autonomous Robots. Vol. 24, No. 4. May 2008. [1.0MB .pdf]

Eigentaste 5.0: Constant-Time Adaptability in a Recommender System Using Item Clustering, Tavi Nathanson, Ephrat Bitton, and Ken Goldberg. Working Paper Track. ACM Conference on Recommender Systems (RecSys) , Minneapolis, MN, Oct 2007. [250KB .pdf]

Approximate Algorithms for a Collaboratively Controlled Robotic Camera. Dezhen Song and Ken Goldberg. IEEE Transactions on Robotics. Vol. 23, No. 5, pp. 1061-1070. Oct 2007. [350 KB .pdf]

Exact Algorithms for Single Frame Selection on Multi-Axis Satellites. Dez Song and A. Frank van der Stappen and Ken Goldberg. IEEE Transactions on Automation Science and Engineering, Vol. 3(1), January 2006. [1MB .pdf]

Unsupervised Scoring for Internet-based Collaborative Tele-operation, Ken Goldberg, Dezhen Song, In Yong Song, Jane McGonigal, Wei Zheng, and Dana Plautz, IEEE International Conference on Robotics and Automation (ICRA), April 2004. [0.4MB .pdf]

An Exact Algorithm Optimizing Coverage-Resolution for Automated Satellite Frame Selection, Dezhen Song, A. Frank van der Stappen, Ken Goldberg. IEEE International Conference on Robotics and Automation (ICRA), April 2004. [0.4MB .pdf]

ShareCam Part I: Interface, System Architecture, and Implementation of a Collaboratively Controlled Robotic Webcam, Dezhen Song and Ken Goldberg, IEEE/RSJ International Conference on Robots and Systems, October 2003. [0.5MB .pdf]

ShareCam Part II: Approximate and Distributed Algorithms for a Collaboratively Controlled Robotic Webcam, Dezhen Song, Ken Goldberg, and Anatoly Pashkevich, IEEE/RSJ International Conference on Robots and Systems, October 2003. [0.5MB .pdf]

Exact and Distributed Algorithms for Collaborative Camera Control, Dezhen Song, A. Frank van der Stappen, and Ken Goldberg, Fifth Workshop on the Algorithmic Foundations of Robotics, Nice, France. Dec 2002. [0.5MB .pdf]

Collaborative Teleoperation using Networked Spatial Dynamic Voting. Ken Goldberg, Dezhen Song, and Anthony Levandowski, Proceedings of the IEEE, Special issue on Networked Robots. 91(3), pp. 430-439, March 2003. [2.4MB .pdf]

Collaborative Online Teleoperation with Spatial Dynamic Voting and a Human ``Tele-Actor,'' K. Goldberg, D. Song, Y. Khor, D. Pescovitz, A. Levandowski, J. Himmelstein, J. Shih, A. Ho, E. Paulos, J. Donath, IEEE International Conference on Robotics and Automation, May 2002. [590K .pdf]

Collaborative Control of Robot Motion: Robustness to Error, Ken Goldberg and Billy Chen, IEEE/RSJ International Conference on Robots and Systems, October 2001. [450K .pdf]

Eigentaste: A Constant Time Collaborative Filtering Algorithm, Ken Goldberg, Theresa Roeder, Dhruv Gupta, and Chris Perkins, Information Retrieval Journal,4(2), pp. 133-151. July 2001. [360K .pdf]

Collaborative Teleoperation on the Internet, Ken Goldberg, Steve Bui, Billy Chen, Bobak Farzin, Jacob Heitler, Derek Poon, Rory Solomon, and Gordon Smith), IEEE ICRA 2000. San Francisco, CA. April, 2000. [200K .pdf]

The Mercury Project: A Feasibility Study for Internet Robots, K. Goldberg, S. Gentner, C. Sutter, J. Wiegley, IEEE Robotics and Automation Magazine. Special Issue on Internet Robotics, December, 1999. [225K .pdf]

Beyond the Web: Manipulating the Real World. K. Goldberg and M. Mascha and S Gentner and N. Rothenberg and C. Sutter and J. Wiegley. Computer Networks and ISDN Systems. V 28. Pages:209-219, Dec 1995. [1.1MB .pdf]

Desktop Teleoperation via the World Wide Web, K. Goldberg and M. Mascha and S Gentner and N. Rothenberg and C. Sutter and J. Wiegley, IEEE International Conference on Robotics and Automation, May 1995. Pages:654 - 659 vol.1. [.8MB .pdf]

Beyond the Web: Excavating the Real World via Mosaic. K. Goldberg and M. Mascha and S Gentner and N. Rothenberg and C. Sutter and J. Wiegley, Second International World Wide Web Conference, Chicago, IL. October 17-21, 1994. [.3MB .pdf]

Algorithmic Automation: Part Feeding, Fixturing, Assembly

Estimating Part Tolerance Bounds Based on Adaptive Cloud-Based Grasp Planning with Slip. Ben Kehoe, Dmitry Berenson, and Ken Goldberg. IEEE Conference on Automation Science and Engineering (CASE). Seoul, Korea. August 2012. [.pdf]

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. IEEE International Conference on Robotics and Automation. Minneapolis, MN. May 2012. [.pdf]

A Robot Path Planning Framework that Learns from Experience. Dmitry Berenson, Pieter Abbeel, Ken Goldberg. IEEE International Conference on Robotics and Automation. Minneapolis, MN. May 2012. [.pdf]

A Geometric Approach to Robotic Laundry Folding. Stephen Miller, Jur van den Berg, Mario Fritz, Trevor Darrell, Ken Goldberg, and Pieter Abbeel. The International Journal of Robotics Research. V31:2, pp. 249-267. February 2012. [.pdf]

Grasping and Fixturing as Submodular Coverage Problems. John D. Schulman, Ken Goldberg, Pieter Abbeel. In the proceedings of the 15th International Symposium on Robotics Research (ISRR) , September 2011. [.pdf]

ANA*: Anytime Nonparametric A*. Jur van den Berg, Rajat Shah, Arthur Huang, and Ken Goldberg. Association for the Advancement of Artificial Intelligence: Annual Conference (AAAI). San Francisco, CA. August 2011. [.pdf]

Gravity-Based Robotic Cloth Folding. Jur van den Berg, Stephen Miller, Ken Goldberg, Pieter Abbeel. Ninth Workshop on Algorithmic Foundations of Robotics (WAFR). Singapore. December 2010. [.pdf]

Blades: A New Class of Geometric Primitives for Feeding 3D Parts on Vibratory Tracks. Onno C. Goemans, Ken Goldberg, and Frank van der Stappen. IEEE International Conference on Robotics and Automation. May 2006, Orlando FL. Finalist for Best Conference Paper. [300KB .pdf]

D-Space and Deform Closure Grasps of Deformable Parts. K. "Gopal" Gopalakrishnan and Ken Goldberg. International Journal of Robotics Research. Vol 24(11), November 2005. [0.3MB .pdf]

Unilateral Fixtures for Sheet Metal Parts with Holes. K. "Gopal" Gopalakrishnan, Ken Goldberg, Gary M. Bone, Matthew Zaluzec, Rama Koganti, Patricia Deneszczuk and Rich Pearson. IEEE Transactions on Automation Science and Engineering. 1(2), pp 110-120, October 2004. T-ASE Best Journal Paper of 2004 Award. [1MB .pdf]

Gripper Point Contacts for Part Alignment. Mike Tao Zhang and Ken Goldberg. IEEE Transactions on Robotics and Automation. 18(6), pp. 902-910. December, 2002. [1MB .pdf]

Gripping Parts at Concave Vertices, K. "Gopal" Gopalakrishnan and K. Goldberg. IEEE International Conference on Robotics and Automation, May 2002. [430K .pdf]

Orienting Micro-Scale Parts with Squeeze and Roll Primitives, M. Moll, K. Goldberg, M. Erdmann, R. Fearing, IEEE International Conference on Robotics and Automation, May 2002. [90K .pdf]

Trap Design for Vibratory Part Feeders. R-P. Berretty, K. Goldberg, M. Overmars, F. Van der Stappen. International Journal of Robotics Research. 20(11), November 2001. [500K .pdf]

Geometry and Part Feeding, A.F. van der Stappen, R.-P. Berretty, Ken Goldberg, and M.H. Overmars, in: Modelling of Sensor-Based Intelligent Robot Systems, Edited by H. Bunke, H.I. Christensen, G. Hager, and R. Klein, Lecture Notes in Computer Science, Springer Verlag, Berlin, 2001 . [570K .pdf]

Pin Design for Part Feeding. Tao Zhang, Ken Goldberg, Gordon Smith, Robert-Paul Berretty, and Mark Overmars, Robotica Journal. [1MB .pdf]

Shape Tolerance for Robot Gripper Jaws, Tao Zhang, Lawrence Cheung and Ken Goldberg, IEEE/RSJ International Conference on Robots and Systems, October 2001. [90K .pdf]

Compensatory Grasping with the Parallel-Jaw Gripper, T. Zhang, G. Smith, K. Goldberg, Fourth Workshop on Algorithmic Foundations of Robotics. March 2000 [700K .pdf]

Part Pose Statistics: Estimators and Experiments, K. Goldberg, B. Mirtich, Y. Zhuang, J. Craig, B. Carlisle, and J. Canny, IEEE Transactions on Robotics and Automation. 15(5), 849-857, October, 1999. [275K .pdf]

Geometric Eccentricity and the Complexity of Manipulation Plans, F. van der Stappen, K. Goldberg, and M. Overmars, Algorithmica, Algorithmica, 26(3/4), 494-514. March 2000. [400K .pdf]

Algorithms for Sensorless Manipulation Using a Vibrating Surface, K. Bohringer, K. Goldberg, V. Bhatt and B. Donald, Algorithmica. 26(3/4), 389-429. March 2000. [10M .pdf]

Computing Parallel-Jaw Grip Points, G. Smith, E. Lee, K. Goldberg, K. Bohringer, and J. Craig, IEEE International Conference on Robotics and Automation (ICRA). May, 1999. [272K .pdf]

FixtureNet: Interactive Computer Aided Design via the WWW. R. Wagner and G. Castanotto and K. Goldberg. International Journal on Human-Computer Studies. 46, 773-788. August 1997. [.pdf]

A Complete Algorithm for Designing Passive Fences to Orient Parts, J. Wiegley, K. Goldberg, M. Peshkin, and M. Brokowski, IEEE International Conference on Robotics and Automation, Minneapolis, MN. April, 1996. [44K ps.gz]

Complete Algorithm for Feeding Polyhedral Parts Using Pivot Grasps. Anil Rao, David Kriegman, Ken Goldberg. IEEE Transactions on Robotics and Automation. 12(2), pp. 331 - 342· May 1996. [.pdf]

Manipulating Algebraic Parts in the Plane, A. Rao and K. Goldberg, IEEE Transactions on Robotics and Automation. 11(4), August 1995. [300K .pdf]

Placing Registration Marks. Anil Rao and Ken Goldberg. IEEE Transactions on Industrial Electronics. . 41(1), February, 1994. [.pdf]

Completeness in Robot Motion Planning , K. Goldberg, The First Workshop on the Algorithmic Foundations of Robotics . A. K. Peters. February, 1994. [188K .pdf]

Shape from Diameter: Recognizing Polygonal Parts with a Parallel-Jaw Gripper, A. Rao and K. Goldberg, International Journal of Robotics Research. 13(1), February 1994. [373K .pdf]

On the Existence of Modular Fixtures, Y. Zhuang and K. Goldberg, International Journal of Robotics Research. 15(5), December, 1996. [127K .pdf]

A complete algorithm for designing planar fixtures using modular components, R. C. Brost and K. Y. Goldberg, IEEE Transactions on Robotics and Automation. 12(1), Feb. 1996 Page(s):31 - 46. [2.4M .pdf]

Comparing Two Algorithms for Programming Robots in Stochastic Environments. Alan Christiansen and Ken Goldberg. Robotica. 13(6), November-December 1995. [.pdf]

A Pivoting Gripper for Feeding Industrial Parts, B. Carlisle and A. Rao and J. Wiegley, K. Goldberg, 1994 IEEE Conference on Robotics and Automation, May 1994. [52K .pdf]

RISC for Industrial Robots: Recent Results and Open Problems, J. Canny and K. Goldberg, IEEE Conference on Robotics and Automation, May, 1994. [81K .pdf]

Orienting Polygonal Parts Without Sensors, K. Goldberg (PhD Thesis), Algorithmica, Special Issue on Computational Robotics, Volume 10(3), 201-225, August, 1993. [166K .pdf]

Stochastic Plans for Robotic Manipulation. Ken Goldberg. PhD Dissertation, Carnegie Mellon University Computer Science Department. 31 August, 1990. [46MB searchable .pdf]

Bayesian Grasping. Kenneth Y. Goldberg and Matthew T. Mason. IEEE International Conference on Robotics and Automation, May 1990. [.pdf]

Conditions for Symmetric Running in Single- and Double-Support, K. Goldberg and M. Raibert, IEEE International Conference on Robotics and Automation, Raleigh, NC, March 1987. [3.4MB .pdf]

Sensor-Based Manipulation Planning as a Game with Nature. Russell H. Taylor, Matthew T. Mason, Kenneth Y. Goldberg. 4th International Symposium on Robotics Research, August 1987. Santa Barbara, CA.B Robert Bolles and Bernard Roth, eds.B MIT Press. [.pdf]

Active Touch and Robot Perception. Kenneth Y. Goldberg and Ruzena Bajcsy. Cognition and Brain Theory Journal, 7(2), 199-214. 1984. [.pdf]

XY Interpolation Algorithms. Kenneth Y. Goldberg and Melvin M. Goldberg. Robotics Age. May/June, 1983. [1.5MB .pdf]

LAYDBUG: A "Buggy-Type" Program for the Linear Algebra Domain. Kenneth Y. Goldberg. Working Paper 127. University of Edinburgh Department of AI. October 1982. [1.5MB .pdf]

Social Information Filtering and Data Cleaning

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. Proceedings of the 16th Annual ACM Conference on Information Technology Education, SIGITE 15, Chicago, September, 2015. [.pdf]

M-CAFE: Managing MOOC Student Feedback with Collaborative Filtering. Mo Zhou, Alison Cliff, Allen Huang, Sanjay Krishnan, Brandie Nonneche, Kanji Uchino, Sam Joseph, Armando Fox, Ken Goldberg. Proceedings of the 2nd ACM Conference on Learning At Scale (L@S 2015), Vancouver, BC, Canada, March 2015. [.pdf]

A Mobile Platform for Participatory Assessment of Development Programs and a Case Study in Uganda. Brandie Nonnecke, Sanjay Krishnan, Amit Akula, Alison Cliff, Allen Huang, Angela Lin, Shir Nehama, Laura Byaruhanga, Dorothy Masinde, Camille Crittenden, Ken Goldberg. Humanitarian Technology Conference: Science, Systems and Global Impact. HumTech2015. Elsevier. Boston, MA. May 2015. [.pdf]

A Methodology for Learning, Analyzing, and Mitigating Social Influence Bias in Recommender Systems. Sanjay Krishnan, Jay Patel, Michael J. Franklin, and Ken Goldberg. ACM Conference on Recommender Systems (RecSys). Foster City, CA, USA. Oct 2014. [.pdf]

Comparing Three Online Civic Engagement Platforms using the Spectrum of Public Participation. Matti Nelimarkka, Brandie Nonnecke, Sanjay Krishnan, Tanja Aitamurto, Allen Ching-Chang Huang, Gavin Newsom, Conrad Gregory, Jay Patel, Daniel Catterson, Camille Crittenden, John Scott, Chris Garland, and Ken Goldberg. University of Oxford: Internet, Policy, and Politics Conference on Crowdsourcing for Politics and Policy (IPP2014). Oxford, UK. Sept, 2014. [.pdf]

A Sample-and-Clean Framework for Fast and Accurate Query Processing on Dirty Data. Jiannan Wang, Sanjay Krishnan, Michael J. Franklin, Ken Goldberg, Tova Milo, Tim Kraska. ACM Special Interest Group on Management of Data (SIGMOD), Snowbird, Utah, USA. June 2014. [.pdf]

Opinion Space: A Scalable Tool for Browsing Online Comments. Siamak Faridani, Ephrat Bitton, Kimiko Ryokai, Ken Goldberg. ACM International Conference on Computer Human Interaction (CHI). Atlanta, GA. April 2010. [0.5MB .pdf]

Safety, Security, Privacy

Actuator Networks: Inducing Potential Fields to Guide a Moving Element to a Desired Position Using Push-Cage-Squeeze Cycles, Jeremy Schiff, Danny Bazo, Vincent Duindam, Dezhen Song, Ken Goldberg. IEEE Conference on Automation Science and Engineering. Washington, DC. Aug 2008. [1.2MB .pdf]

Respectful Cameras: Detecting Visual Markers in Real-Time to Address Privacy Concerns. Jeremy Schiff, Marci Meingast, Deirdre K. Mulligan, Shankar Sastry, and Ken Goldberg. International Conference on Intelligent Robots and Systems (IROS) . San Diego, California. October 2007. [1.2MB .pdf]

Automated Tracking of Pallets in Warehouses: Beacon Layout and Asymmetric Ultrasound Observation Models, Menasheh Fogel, Nathan Burkhart, Hongliang Ren, Jeremy Schiff, Max Meng, and Ken Goldberg. Third IEEE Conference on Automation Science and Engineering (CASE), Scottsdale, AZ, Sep 2007. [800KB .pdf]

Automated Intruder Tracking using Particle Filtering and a Network of Binary Motion Sensors. Jeremy Schiff and Ken Goldberg. IEEE International Conference on Automation Science and Engineering (CASE). Shanghai, China. October 2006. [327KB .pdf]

Automating Inspection and Documentation of Remote Building Construction using a Robotic Camera, Dezhen Song, Qiang Hu, Ni Qin, and Ken Goldberg, IEEE International Conference on Automation Science and Engineering (CASE) 2005 , August 1 & 2, 2005, Edmonton, Canada. [0.5MB .pdf]

Other Topics

Cultivating the Uncanny: The Telegarden and Other Oddities. Elizabeth Jochum and Ken Goldberg. Chapter 8 in: Robots and Art: Exploring an Unlikely Symbiosis. Book Edited by Damith Herath, Christian Kroos, Stelarc. Springer Press. June 2016. [.pdf]

Bloom. Ken Goldberg, Sanjay Krishnan, Fernanda Viegas, Martin Wattenberg. Text by JoAnne Northrup. Boom Magazine, UC Press. pp 78-85. Volume 5(2). Summer 2015. [.pdf]

The Index and the Interface. Kris Paulsen. Representations Journal, Vol. 122, No. 1 (Spring 2013), pp. 83-109. [.pdf]

Range Change Among New World Tropical and Subtropical Birds J.H. Rappole, S. Glasscock, Ken Goldberg, D. Song, & S. Faridani. Bonner Zoologische Monographien. (Zoological Monographs of the Koenig Museum) Bonn, Germany. Number 57. 2011. [.pdf]

Editorial: "One Robot is Robotics, Ten Robots is Automation." Ken Goldberg. IEEE Transactions on Automation Science and Engineering (T-ASE). Oct 1, 2016. [.pdf]

Interview: Telerobots, Androids, and Heidegger. Erico Guizzo and Ken Goldberg. IEEE Robotics and Automation Magazine., V18, No. 1. March 2011. [.pdf]

Virtual Reality in the Age of Telepresence. Ken Goldberg. Convergence Journal. , 4(1). 1998. [.pdf]

Comprehensive Chronological List of all publications.

Erdos-Bacon Number = 6. Erdos-Bacon Numbers.

Erdos Number = 3. (Source: MathSciNet)

Boris Aronov, Paul Erdos, et al. Crossing families. Combinatorica v14. no. 2, pp. 127-134. 1994.
Boris Aronov, Mark de Berg, Frank van der Stappen, et al. Motion planning for multiple robots. Discrete Computational Geometry. v22. no. 4, pp. 505-525. 1999.
R-P. Berretty, Ken Goldberg, Mark Overmars, and Frank van der Stappen. Trap Design for Vibratory Part Feeders. Int'l Jour. of Robotics Research. v20. no. 11. 2001.

Bacon Number = 3. (Source: OracleofBacon.org)

Kevin Bacon with Alec Baldwin in "She's Having a Baby". 1988.
Alec Baldwin with Peter Coyote in "Earth and the American Dream". 1992.
Peter Coyote with Ken Goldberg in "Connected: An Autoblogography About Love, Death & Technology". 2011.

For more information contact Ken Goldberg.