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 (WAFR, 2016)

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 (ICRA, 2017)

Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models. - Ajay Kumar Tanwani; Jonathan Lee 002; Brijen Thananjeyan; Michael Laskey; Sanjay Krishnan; Roy Fox; Ken Goldberg; Sylvain Calinon (WAFR, 2018)

Automated Extraction of Surgical Needles from Tissue Phantoms. - Priya Sundaresan; Brijen Thananjeyan; Johnathan Chiu; Danyal Fer; Ken Goldberg (CASE, 2019)

On-Policy Robot Imitation Learning from a Converging Supervisor. - Ashwin Balakrishna; Brijen Thananjeyan; Jonathan Lee 002; Felix Li; Arsh Zahed; Joseph E. Gonzalez; Ken Goldberg (CoRL, 2019)

Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities. - Brijen Thananjeyan; Ajay Kumar Tanwani; Jessica J. Ji; Danyal Fer; Vatsal Patel; Sanjay Krishnan; Ken Goldberg (ISMR, 2019)

Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations. - Brijen Thananjeyan; Ashwin Balakrishna; Ugo Rosolia; Felix Li; Rowan McAllister; Joseph E. Gonzalez; Sergey Levine; Francesco Borrelli; Ken Goldberg (CoRR, 2019)

Deep Imitation Learning of Sequential Fabric Smoothing Policies. - 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; et al. (CoRR, 2019)

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 (Int. J. Robotics Res., 2019)

Untangling Dense Knots by Learning Task-Relevant Keypoints. - Jennifer Grannen; Priya Sundaresan; Brijen Thananjeyan; Jeffrey Ichnowski; Ashwin Balakrishna; Vainavi Viswanath; Michael Laskey; Joseph Gonzalez 001; Ken Goldberg (CoRL, 2020)

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 (ICRA, 2020)

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; et al. (IROS, 2020)

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 (ISMR, 2020)

Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation. - Minho Hwang; Brijen Thananjeyan; Samuel Paradis; Daniel Seita; Jeffrey Ichnowski; Danyal Fer; Thomas Low; Ken Goldberg (CoRR, 2020)

Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images. - 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; et al. (CoRR, 2020)

MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects. - Aditya Ganapathi; Priya Sundaresan; Brijen Thananjeyan; Ashwin Balakrishna; Daniel Seita; Ryan Hoque; Joseph E. Gonzalez; Ken Goldberg (CoRR, 2020)

Resource Allocation in Multi-armed Bandit Exploration: Overcoming Nonlinear Scaling with Adaptive Parallelism. - Brijen Thananjeyan; Kirthevasan Kandasamy; Ion Stoica; Michael I. Jordan; Ken Goldberg; Joseph E. Gonzalez (CoRR, 2020)

Untangling Dense Knots by Learning Task-Relevant Keypoints. - Jennifer Grannen; Priya Sundaresan; Brijen Thananjeyan; Jeffrey Ichnowski; Ashwin Balakrishna; Minho Hwang; Vainavi Viswanath; Michael Laskey; Joseph E. Gonzalez; Ken Goldberg (CoRR, 2020)

Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks. - Minho Hwang; Brijen Thananjeyan; Daniel Seita; Jeffrey Ichnowski; Samuel Paradis; Danyal Fer; Thomas Low; Ken Goldberg (CoRR, 2020)

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; Ken Goldberg (IEEE Robotics Autom. Lett., 2020)

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 Autom. Lett., 2020)

LazyDAgger: Reducing Context Switching in Interactive Imitation Learning. - Ryan Hoque; Ashwin Balakrishna; Carl Putterman; Michael Luo; Daniel S. Brown; Daniel Seita; Brijen Thananjeyan; Ellen R. Novoseller; Ken Goldberg (CASE, 2021)

SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo. - Thomas Kollar; Michael Laskey; Kevin Stone; Brijen Thananjeyan; Mark Tjersland (CoRL, 2021)

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 (CoRL, 2021)

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 001 (ICML, 2021)

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; et al. (ICRA, 2021)

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 (ICRA, 2021)

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 (IROS, 2021)

Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies. - Priya Sundaresan; Jennifer Grannen; Brijen Thananjeyan; Ashwin Balakrishna; Jeffrey Ichnowski; Ellen R. Novoseller; Minho Hwang; Michael Laskey; Joseph Gonzalez 001; Ken Goldberg (Robotics: Science and Systems, 2021)

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 (WAFR, 2021)

PAC Best Arm Identification Under a Deadline. - Brijen Thananjeyan; Kirthevasan Kandasamy; Ion Stoica; Michael I. Jordan; Ken Goldberg; Joseph E. Gonzalez (CoRR, 2021)

LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Iterative Tasks. - Albert Wilcox; Ashwin Balakrishna; Brijen Thananjeyan; Joseph E. Gonzalez; Ken Goldberg (CoRR, 2021)

MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance. - Michael Luo; Ashwin Balakrishna; Brijen Thananjeyan; Suraj Nair 003; Julian Ibarz; Jie Tan 001; Chelsea Finn; Ion Stoica; Ken Goldberg (CoRR, 2021)

Recovery RL: Safe Reinforcement Learning With Learned Recovery Zones. - Brijen Thananjeyan; Ashwin Balakrishna; Suraj Nair 003; Michael Luo; Krishnan Srinivasan; Minho Hwang; Joseph E. Gonzalez; Julian Ibarz; Chelsea Finn; Ken Goldberg (IEEE Robotics Autom. Lett., 2021)

A Digital Twin Framework for Telesurgery in the Presence of Varying Network Quality of Service. - Sophea Bonne; Will Panitch; Karthik Dharmarajan; Kishore Srinivas; Jerri-Lynn Kincade; Thomas Low; Bruce Knoth; Cregg Cowan; Danyal Fer; Brijen Thananjeyan; Justin Kerr; Jeffrey Ichnowski; et al. (CASE, 2022)

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 (CoRL, 2022)

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 (ICRA, 2022)

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 (IROS, 2022)

Autonomously Untangling Long Cables. - Vainavi Viswanath; Kaushik Shivakumar; Justin Kerr; Brijen Thananjeyan; Ellen R. Novoseller; Jeffrey Ichnowski; Alejandro Escontrela; Michael Laskey; Joseph E. Gonzalez; Ken Goldberg (Robotics: Science and Systems, 2022)

All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators. - Brijen Thananjeyan; Justin Kerr; Huang Huang; Joseph E. Gonzalez; Ken Goldberg (CoRR, 2022)

Safe Reinforcement Learning Using Learned Safe Sets - Brijen Thananjeyan (2022)

Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans. - Minho Hwang; Jeffrey Ichnowski; Brijen Thananjeyan; Daniel Seita; Samuel Paradis; Danyal Fer; Thomas Low; Ken Goldberg (IEEE Trans Autom. Sci. Eng., 2023)