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)

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)

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)

Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies. - Satvik Sharma; Ellen R. Novoseller; Vainavi Viswanath; Zaynah Javed; Rishi Parikh; Ryan Hoque; Ashwin Balakrishna; Daniel S. Brown; Ken Goldberg (CASE, 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)

Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening. - Vincent Schorp; Will Panitch; Kaushik Shivakumar; Vainavi Viswanath; Justin Kerr; Yahav Avigal; Danyal M. Fer; Lionel Ott; Ken Goldberg (CASE, 2023)

HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation. - Vainavi Viswanath; Kaushik Shivakumar; Mallika Parulekar; Jainil Ajmera; Justin Kerr; Jeffrey Ichnowski; Richard Cheng; Thomas Kollar; Ken Goldberg (CoRL, 2023)

SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception. - Kaushik Shivakumar; Vainavi Viswanath; Anrui Gu; Yahav Avigal; Justin Kerr; Jeffrey Ichnowski; Richard Cheng; Thomas Kollar; Ken Goldberg (ICRA, 2023)

Learning to Trace and Untangle Semi-planar Knots (TUSK). - Vainavi Viswanath; Kaushik Shivakumar; Jainil Ajmera; Mallika Parulekar; Justin Kerr; Jeffrey Ichnowski; Richard Cheng; Thomas Kollar; Ken Goldberg (CoRR, 2023)