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)

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 (WAFR, 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)

Robot grasping in clutter: Using a hierarchy of supervisors for learning from demonstrations. - Michael Laskey; Jonathan Lee 002; Caleb Chuck; David V. Gealy; Wesley Yu-Shu Hsieh; Florian T. Pokorny; Anca D. Dragan; 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)

An algorithm and user study for teaching bilateral manipulation via iterated best response demonstrations. - Carolyn Chen; Sanjay Krishnan; Michael Laskey; Roy Fox; Ken Goldberg (CASE, 2017)

Statistical data cleaning for deep learning of automation tasks from demonstrations. - Caleb Chuck; Michael Laskey; Sanjay Krishnan; Ruta Joshi; Roy Fox; Ken Goldberg (CASE, 2017)

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)

DART: Noise Injection for Robust Imitation Learning. - Michael Laskey; Jonathan Lee 002; Roy Fox; Anca D. Dragan; Ken Goldberg (CoRL, 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)

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)

Learning Robust Bed Making using Deep Imitation Learning with DART. - Michael Laskey; Chris Powers; Ruta Joshi; Arshan Poursohi; Ken Goldberg (CoRR, 2017)

Constraint Estimation and Derivative-Free Recovery for Robot Learning from Demonstrations. - Jonathan Lee 002; Michael Laskey; Roy Fox; Ken Goldberg (CASE, 2018)

Learning Traffic Behaviors by Extracting Vehicle Trajectories from Online Video Streams. - Xinhe Ren; David Wang; Michael Laskey; Ken Goldberg (CASE, 2018)

FLUIDS: A First-Order Lightweight Urban Intersection Driving Simulator. - Hankun Zhao; Andrew Cui; Schuyler A. Cullen; Brian Paden; Michael Laskey; Ken Goldberg (CASE, 2018)

A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning. - Jonathan N. Lee; Michael Laskey; Ajay Kumar Tanwani; Anil Aswani; Ken Goldberg (WAFR, 2018)

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)

Derivative-Free Failure Avoidance Control for Manipulation using Learned Support Constraints. - Jonathan Lee 002; Michael Laskey; Roy Fox; Ken Goldberg (CoRR, 2018)

Robot Bed-Making: Deep Transfer Learning Using Depth Sensing of Deformable Fabric. - Daniel Seita; Nawid Jamali; Michael Laskey; Ron Berenstein; Ajay Kumar Tanwani; Prakash Baskaran; Soshi Iba; John F. Canny; Ken Goldberg (CoRR, 2018)

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)

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 F. Canny; Ken Goldberg (ISRR, 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)

A Mobile Manipulation System for One-Shot Teaching of Complex Tasks in Homes. - Max Bajracharya; James Borders; Daniel M. Helmick; Thomas Kollar; Michael Laskey; John Leichty; Jeremy Ma; Umashankar Nagarajan; Akiyoshi Ochiai; Josh Petersen; Krishna Shankar; Kevin Stone; et al. (ICRA, 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)

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)

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

Planar Robot Casting with Real2Sim2Real Self-Supervised Learning. - Vincent Lim; Huang Huang; Lawrence Yunliang Chen; Jonathan Wang; Jeffrey Ichnowski; Daniel Seita; Michael Laskey; Ken Goldberg (CoRR, 2021)

Dynamic regret convergence analysis and an adaptive regularization algorithm for on-policy robot imitation learning. - Jonathan N. Lee; Michael Laskey; Ajay Kumar Tanwani; Anil Aswani; Ken Goldberg (Int. J. Robotics Res., 2021)

CenterSnap: Single-Shot Multi-Object 3D Shape Reconstruction and Categorical 6D Pose and Size Estimation. - Muhammad Zubair Irshad; Thomas Kollar; Michael Laskey; Kevin Stone; Zsolt Kira (ICRA, 2022)

Real2Sim2Real: Self-Supervised Learning of Physical Single-Step Dynamic Actions for Planar Robot Casting. - Vincent Lim; Huang Huang; Lawrence Yunliang Chen; Jonathan Wang; Jeffrey Ichnowski; Daniel Seita; Michael Laskey; Ken Goldberg (ICRA, 2022)

Efficiently Learning Single-Arm Fling Motions to Smooth Garments. - Lawrence Yunliang Chen; Huang Huang; Ellen R. Novoseller; Daniel Seita; Jeffrey Ichnowski; Michael Laskey; Richard Cheng; Thomas Kollar; Ken Goldberg (ISRR, 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)