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)

FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2. - Jeffrey Ichnowski; Kaiyuan Chen 001; Karthik Dharmarajan; Simeon Adebola; Michael Danielczuk; Victor Mayoral Vilches; Hugo Zhan; Derek Xu; Ramtin Ghassemi; John Kubiatowicz; Ion Stoica; Joseph Gonzalez 001; et al. (CoRR, 2022)

Automating Vascular Shunt Insertion with the dVRK Surgical Robot. - Karthik Dharmarajan; Will Panitch; Muyan Jiang; Kishore Srinivas; Baiyu Shi; Yahav Avigal; Huang Huang; Thomas Low; Danyal Fer; Ken Goldberg (ICRA, 2023)

FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2. - Jeffrey Ichnowski; Kaiyuan Chen 001; Karthik Dharmarajan; Simeon Adebola; Michael Danielczuk; Victor Mayoral Vilches; Nikhil Jha; Hugo Zhan; Edith LLontop; Derek Xu; Camilo Buscaron; John Kubiatowicz; et al. (ICRA, 2023)

FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity. - Kaiyuan Chen 001; Ryan Hoque; Karthik Dharmarajan; Edith LLontop; Simeon Adebola; Jeffrey Ichnowski; John Kubiatowicz; Ken Goldberg (IROS, 2023)

A Trimodal Framework for Robot-Assisted Vascular Shunt Insertion When a Supervising Surgeon is Local, Remote, or Unavailable. - Karthik Dharmarajan; Will Panitch; Baiyu Shi; Huang Huang; Lawrence Yunliang Chen; Thomas Low; Danyal Fer; Ken Goldberg (ISMR, 2023)

FogROS2-Sky: Optimizing Latency and Cost for Multi-Cloud Robot Applications. - Kaiyuan Chen 001; Kush Hari; Rohil Khare; Charlotte Le; Trinity Chung; Jaimyn Drake; Karthik Dharmarajan; Simeon Adebola; Jeffrey Ichnowski; John Kubiatowicz; Ken Goldberg (CoRR, 2023)

Robot-Assisted Vascular Shunt Insertion with the dVRK Surgical Robot. - Karthik Dharmarajan; Will Panitch; Baiyu Shi; Huang Huang; Lawrence Yunliang Chen; Masoud Moghani; Qinxi Yu; Kush Hari; Thomas Low; Danyal Fer; Animesh Garg; Ken Goldberg (J. Medical Robotics Res., 2023)

RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning. - Lawrence Yunliang Chen; Chenfeng Xu; Karthik Dharmarajan; Richard Cheng; Kurt Keutzer; Masayoshi Tomizuka; Quan Vuong; Ken Goldberg (CoRL, 2024)

Orbit-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity. - Qinxi Yu; Masoud Moghani; Karthik Dharmarajan; Vincent Schorp; William Chung-Ho Panitch; Jingzhou Liu; Kush Hari; Huang Huang; Mayank Mittal; Ken Goldberg; Animesh Garg (ICRA, 2024)

BOMP: Bin-Optimized Motion Planning. - Zachary Tam; Karthik Dharmarajan; Tianshuang Qiu; Yahav Avigal; Jeffrey Ichnowski; Ken Goldberg (IROS, 2024)

STITCH: Augmented Dexterity for Suture Throws Including Thread Coordination and Handoffs. - Kush Hari; Hansoul Kim; Will Panitch; Kishore Srinivas; Vincent Schorp; Karthik Dharmarajan; Shreya Ganti; Tara Sadjadpour; Ken Goldberg (ISMR, 2024)

MIRAGE: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting. - Lawrence Yunliang Chen; Karthik Dharmarajan; Kush Hari; Chenfeng Xu; Quan Vuong; Ken Goldberg (Robotics: Science and Systems, 2024)

RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning. - Lawrence Yunliang Chen; Chenfeng Xu; Karthik Dharmarajan; Muhammad Zubair Irshad; Richard Cheng; Kurt Keutzer; Masayoshi Tomizuka; Quan Vuong; Ken Goldberg (CoRR, 2024)