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 001; Mike Franklin; Pieter Abbeel; Kenneth Y. Goldberg (CASE, 2014)

Autonomous multilateral debridement with the Raven surgical robot. - Ben Kehoe; Gregory Kahn; Jeffrey Mahler; Jonathan Kim; Alex X. Lee; Anna Lee; Keisuke Nakagawa; Sachin Patil; W. Douglas Boyd; Pieter Abbeel; Kenneth Y. Goldberg (ICRA, 2014)

Multi-armed bandit models for 2D grasp planning with uncertainty. - Michael Laskey; Jeffrey Mahler; Zoe McCarthy; Florian T. Pokorny; Sachin Patil; Jur P. van den Berg; Danica Kragic; Pieter Abbeel; Ken Goldberg (CASE, 2015)

GP-GPIS-OPT: Grasp planning with shape uncertainty using Gaussian process implicit surfaces and Sequential Convex Programming. - Jeffrey Mahler; Sachin Patil; Ben Kehoe; Jur van den Berg; Matei T. Ciocarlie; Pieter Abbeel; Ken Goldberg (ICRA, 2015)

Privacy-preserving Grasp Planning in the Cloud. - Jeffrey Mahler; Brian Hou; Sherdil Niyaz; Florian T. Pokorny; Ramu Chandra; Ken Goldberg (CASE, 2016)

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 (ICRA, 2016)

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 Kröger; James J. Kuffner; Ken Goldberg (ICRA, 2016)

Large-scale supervised learning of the grasp robustness of surface patch pairs. - Daniel Seita; Florian T. Pokorny; Jeffrey Mahler; Danica Kragic; Michael J. Franklin; John F. Canny; Kenneth Y. Goldberg (SIMPAR, 2016)

Energy-Bounded Caging: Formal Definition and 2-D 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 Autom. Lett., 2016)

Using dVRK teleoperation to facilitate deep learning of automation tasks for an industrial robot. - Jacky Liang; Jeffrey Mahler; Michael Laskey; Pusong Li; Ken Goldberg (CASE, 2017)

An algorithm for transferring parallel-jaw grasps between 3D mesh subsegments. - Matthew Matl; Jeffrey Mahler; Ken Goldberg (CASE, 2017)

Learning Deep Policies for Robot Bin Picking by Simulating Robust Grasping Sequences. - Jeffrey Mahler; Ken Goldberg (CoRL, 2017)

Design of parallel-jaw gripper tip surfaces for robust grasping. - Menglong Guo; David V. Gealy; Jacky Liang; Jeffrey Mahler; Aimee Goncalves; Stephen McKinley; Juan Aparicio Ojea; Ken Goldberg (ICRA, 2017)

Comparing human-centric and robot-centric sampling for robot deep learning from demonstrations. - Michael Laskey; Caleb Chuck; Jonathan Lee 002; Jeffrey Mahler; Sanjay Krishnan; Kevin G. Jamieson; Anca D. Dragan; Ken Goldberg (ICRA, 2017)

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 001; Ken Goldberg (ICRA, 2017)

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 014; Juan Aparicio Ojea; Ken Goldberg (Robotics: Science and Systems, 2017)

Iterative Noise Injection for Scalable Imitation Learning. - Michael Laskey; Jonathan Lee 002; Wesley Yu-Shu Hsieh; Richard Liaw; Jeffrey Mahler; Roy Fox; Ken Goldberg (CoRR, 2017)

Dex-Net 3.0: Computing Robust Robot Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning. - Jeffrey Mahler; Matthew Matl; Xinyu Liu 014; Albert Li; David V. Gealy; Ken Goldberg (CoRR, 2017)

Linear Push Policies to Increase Grasp Access for Robot Bin Picking. - Michael Danielczuk; Jeffrey Mahler; Christopher Correa; Ken Goldberg (CASE, 2018)

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 (CASE, 2018)

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 014; Albert Li; David V. Gealy; Ken Goldberg (ICRA, 2018)

Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Point Clouds. - Michael Danielczuk; Matthew Matl; Saurabh Gupta 001; Andrew Li; Andrew Lee; Jeffrey Mahler; Ken Goldberg (CoRR, 2018)

Synthesis of Energy-Bounded Planar Caging Grasps Using Persistent Homology. - Jeffrey Mahler; Florian T. Pokorny; Sherdil Niyaz; Ken Goldberg (IEEE Trans Autom. Sci. Eng., 2018)

Guest Editorial Open Discussion of Robot Grasping Benchmarks, Protocols, and Metrics. - Jeffrey Mahler; Robert Platt Jr. 001; Alberto Rodriguez 003; Matei T. Ciocarlie; Aaron M. Dollar; Renaud Detry; Máximo A. Roa; Holly A. Yanco; Adam Norton; Joe Falco; Karl Van Wyk; Elena Messina; et al. (IEEE Trans Autom. Sci. Eng., 2018)

Efficient Policy Learning for Robust Robot Grasping. - Jeffrey Mahler (2018)

Robust Toppling for Vacuum Suction Grasping. - Christopher Correa; Jeffrey Mahler; Michael Danielczuk; Ken Goldberg (CASE, 2019)

Dex-Net MM: Deep Grasping for Surface Decluttering with a Low-Precision Mobile Manipulator. - Benno Staub; Ajay Kumar Tanwani; Jeffrey Mahler; Michel Breyer; Michael Laskey; Yutaka Takaoka; Max Bajracharya; Roland Siegwart; Ken Goldberg (CASE, 2019)

Adversarial Grasp Objects. - David Wang; David Tseng; Pusong Li; Yiding Jiang; Menglong Guo; Michael Danielczuk; Jeffrey Mahler; Jeffrey Ichnowski; Ken Goldberg (CASE, 2019)

Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data. - Michael Danielczuk; Matthew Matl; Saurabh Gupta 001; Andrew Li; Andrew Lee; Jeffrey Mahler; Ken Goldberg (ICRA, 2019)

Partial Caging: A Clearance-Based Definition and Deep Learning. - Anastasiia Varava; Michael C. Welle; Jeffrey Mahler; Ken Goldberg; Danica Kragic; Florian T. Pokomy (IROS, 2019)

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 (ISRR, 2019)

On-Policy Dataset Synthesis for Learning Robot Grasping Policies Using Fully Convolutional Deep Networks. - Vishal Satish; Jeffrey Mahler; Ken Goldberg (IEEE Robotics Autom. Lett., 2019)

Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking. - Kate Sanders 002; Michael Danielczuk; Jeffrey Mahler; Ajay Kumar Tanwani; Ken Goldberg (CASE, 2020)

Industrial Robot Grasping with Deep Learning using a Programmable Logic Controller (PLC). - Eugen Solowjow; Ines Ugalde; Yash Shahapurkar; Juan Aparicio; Jeffrey Mahler; Vishal Satish; Ken Goldberg; Heiko Claussen (CASE, 2020)

Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects. - Jingyi Xu; Michael Danielczuk; Jeffrey Ichnowski; Jeffrey Mahler; Eckehard G. Steinbach; Ken Goldberg (ICRA, 2020)

Partial caging: a clearance-based definition, datasets, and deep learning. - Michael C. Welle; Anastasiia Varava; Jeffrey Mahler; Ken Goldberg; Danica Kragic; Florian T. Pokorny (Auton. Robots, 2021)