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Ken Goldberg at ICRA 2016

Ken Goldberg traveled to Stockholm, Sweden for the International Conference on Robotics and Automation (ICRA), the IEEE Robotics and Automation Society’s biggest conference and one of the leading international forums for robotics researchers to present their work. At the 2016 conference, held May 16-21, Ken had an astounding seven papers accepted!

Ken also gave a keynote address on May 17 entitled “Deep Grasping: Can large datasets and reinforcement learning bridge the dexterity gap?” As data-driven learning has made surprising advances in computer vision and speech recognition, Ken draws on Deep Learning and Cloud Robotics to ask whether data-driven learning can address the vast gap between human and robot dexterity, specifically for the elusive problem of robust grasping, by reviewing several exciting approaches and speculating on future directions in the field.

Accepted papers:

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 Kroeger, James Kuffner, Ken Goldberg. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. [.pdf]

Energy-Bounded Caging: Formal Definition and 2D 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 and Automation Letters (RA-L). Accepted December 2016. (Also accepted for presentation at the IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016.) [.pdf]

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. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. [.pdf]

TSC-DL: Unsupervised Trajectory Segmentation of Multi-Modal Surgical Demonstrations with Deep Learning. Adithyavairavan Murali*, Animesh Garg*, Sanjay Krishnan*, Florian T. Pokorny, Pieter Abbeel, Trevor Darrell, Ken Goldberg. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. [.pdf]

Automating Multiple-Throw Multilateral Surgical Suturing with a Mechanical Needle Guide and Sequential Convex Optimization. Siddarth Sen*, Animesh Garg*, David V. Gealy, Stephen McKinley, Yiming Jen, Ken Goldberg. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. [.pdf]

High-Dimensional Winding-Augmented Motion Planning with 2D Topological Task Projections and Persistent Homology. Florian T. Pokorny, Danica Kragic, Lydia E. Kavraki, Ken Goldberg. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. [.pdf]

Topological Trajectory Clustering with Relative Persistent Homology. Florian T. Pokorny, Ken Goldberg, Danica Kragic. IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. [.pdf]

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