Ken Goldberg
収録論文 157本 ・ フィジカルAI/ロボット学習
※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。
論文
- ASPIRE: Agentic /Skills Discovery for Robotics2026/7/1
- RoboVista: Evaluating Vision Language Models for Diverse Robot Applications2026/7/1
- GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks2026/7/1
- SARM2: Multi-Task Stage Aware Reward Modeling for Self Improving Robotic Manipulation2026/6/1
- T-Rex: Tactile-Reactive Dexterous Manipulation2026/6/1
- Playful Agentic Robot Learning2026/6/1
- Adversarial Attacks on Learned Policies for Surgical Robotic Tasks2026/6/1
- WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation2026/6/1
- MonoDuo: Using One Robot Arm to Learn Bimanual Policies2026/5/1
- Open-H-Embodiment: A Large-Scale Dataset for Enabling Foundation Models in Medical Robotics2026/4/1
- 2D and 3D Grasp Planners for the GET Asymmetrical Gripper2026/4/1
- ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning2026/3/1
- IMPASTO: Integrating Model-Based Planning with Learned Dynamics Models for Robotic Oil Painting Reproduction2026/3/1
- CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation2026/3/1
- OXE-AugE: A Large-Scale Robot Augmentation of OXE for Scaling Cross-Embodiment Policy Learning2025/12/1
- EgoMI: Learning Active Vision and Whole-Body Manipulation from Egocentric Human Demonstrations2025/11/1
- LAVQA: A Latency-Aware Visual Question Answering Framework for Shared Autonomy in Self-Driving Vehicles2025/11/1
- Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats2025/10/1
- STITCH 2.0: Extending Augmented Suturing with EKF Needle Estimation and Thread Management2025/10/1
- Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging2025/8/1
- A roadmap for AI in robotics2025/7/1
- Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop2025/6/1
- PyRoki: A Modular Toolkit for Robot Kinematic Optimization2025/5/1
- Robo-DM: Data Management For Large Robot Datasets2025/5/1
- Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware2025/5/1
- Robo2VLM: Visual Question Answering from Large-Scale In-the-Wild Robot Manipulation Datasets2025/5/1
- GrowSplat: Constructing Temporal Digital Twins of Plants with Gaussian Splats2025/5/1
- Energy Efficient Planning for Repetitive Heterogeneous Tasks in Precision Agriculture2025/4/1
- SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks2025/4/1
- Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects2025/3/1
- OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction2025/3/1
- Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation2025/3/1
- FogROS2-FT: Fault Tolerant Cloud Robotics2024/12/1
- BOMP: Bin-Optimized Motion Planning2024/11/1
- Breathless: An 8-hour Performance Contrasting Human and Robot Expressiveness2024/11/1
- FogROS2-PLR: Probabilistic Latency-Reliability For Cloud Robotics2024/10/1
- DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning2024/10/1
- Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot2024/9/1
- RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning2024/9/1
- Blox-Net: Generative Design-for-Robot-Assembly Using VLM Supervision, Physics Simulation, and a Robot with Reset2024/9/1
- Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction2024/9/1
- In-Context Imitation Learning via Next-Token Prediction2024/8/1
- Automating Deformable Gasket Assembly2024/8/1
- SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants2024/5/1
- Self-Supervised Learning of Dynamic Planar Manipulation of Free-End Cables2024/5/1
- IntervenGen: Interventional Data Generation for Robust and Data-Efficient Robot Imitation Learning2024/5/1
- STITCH: Augmented Dexterity for Suture Throws Including Thread Coordination and Handoffs2024/4/1
- ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity2024/4/1
- DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset2024/3/1
- Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS22024/3/1
- A Touch, Vision, and Language Dataset for Multimodal Alignment2024/2/1
- Mirage: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting2024/2/1
- FogROS2-Config: Optimizing Latency and Cost for Multi-Cloud Robot Applications2023/11/1
- Conformal Policy Learning for Sensorimotor Control Under Distribution Shifts2023/11/1
- Open X-Embodiment: Robotic Learning Datasets and RT-X Models2023/10/1
- The Teenager's Problem: Efficient Garment Decluttering as Probabilistic Set Cover2023/10/1
- Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping2023/9/1
- The Busboy Problem: Efficient Tableware Decluttering Using Consolidation and Multi-Object Grasps2023/7/1
- Self-Supervised Learning for Interactive Perception of Surgical Thread for Autonomous Suture Tail-Shortening2023/7/1
- Can Machines Garden? Systematically Comparing the AlphaGarden vs. Professional Horticulturalists2023/6/1
- Push-MOG: Efficient Pushing to Consolidate Polygonal Objects for Multi-Object Grasping2023/6/1
- FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity2023/6/1
- Robot Learning with Sensorimotor Pre-training2023/6/1
- IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors2023/6/1
- Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion2023/5/1
- HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation2023/3/1
- Bagging by Learning to Singulate Layers Using Interactive Perception2023/3/1
- Semantic Mechanical Search with Large Vision and Language Models2023/2/1
- Automating Vascular Shunt Insertion with the dVRK Surgical Robot2022/11/1
- FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with Global Addressability2022/10/1
- Learning to Efficiently Plan Robust Frictional Multi-Object Grasps2022/10/1
- Safe Self-Supervised Learning in Real of Visuo-Tactile Feedback Policies for Industrial Insertion2022/10/1
- AutoBag: Learning to Open Plastic Bags and Insert Objects2022/10/1
- SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception2022/9/1
- Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features2022/9/1
- Automated Pruning of Polyculture Plants2022/8/1
- SpeedFolding: Learning Efficient Bimanual Folding of Garments2022/8/1
- Learning Switching Criteria for Sim2Real Transfer of Robotic Fabric Manipulation Policies2022/7/1
- Autonomously Untangling Long Cables2022/7/1
- Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects2022/7/1
- Optimal Shelf Arrangement to Minimize Robot Retrieval Time2022/6/1
- Multi-Object Grasping in the Plane2022/6/1
- DayDreamer: World Models for Physical Robot Learning2022/6/1
- Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision2022/6/1
- Efficiently Learning Single-Arm Fling Motions to Smooth Garments2022/6/1
- FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 22022/5/1
- Learning to Fold Real Garments with One Arm: A Case Study in Cloud-Based Robotics Research2022/4/1
- All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators2022/3/1
- GOMP-ST: Grasp Optimized Motion Planning for Suction Transport2022/3/1
- Implicit Kinematic Policies: Unifying Joint and Cartesian Action Spaces in End-to-End Robot Learning2022/3/1
- Adversarial Motion Priors Make Good Substitutes for Complex Reward Functions2022/3/1
- Mechanical Search on Shelves using a Novel "Bluction" Tool2022/1/1
- Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles2021/12/1
- MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance2021/12/1
- AlphaGarden: Learning to Autonomously Tend a Polyculture Garden2021/11/1
- Planar Robot Casting with Real2Sim2Real Self-Supervised Learning2021/11/1
- IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model2021/11/1
- LEGS: Learning Efficient Grasp Sets for Exploratory Grasping2021/11/1
- Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects2021/10/1
- GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport2021/10/1
- ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning2021/9/1
- FogROS: An Adaptive Framework for Automating Fog Robotics Deployment2021/8/1
- LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks2021/7/1
- Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities2021/7/1
- Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies2021/7/1
- Disentangling Dense Multi-Cable Knots2021/6/1
- A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration2021/5/1
- Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms2021/5/1
- LazyDAgger: Reducing Context Switching in Interactive Imitation Learning2021/4/1
- VisuoSpatial Foresight for Physical Sequential Fabric Manipulation2021/2/1
- Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans2020/12/1
- Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search2020/12/1
- Learning to Rearrange Deformable Cables, Fabrics, and Bags with Goal-Conditioned Transporter Networks2020/12/1
- Perspectives on Sim2Real Transfer for Robotics: A Summary of the R:SS 2020 Workshop2020/12/1
- Mechanical Search on Shelves using Lateral Access X-RAY2020/11/1
- Accelerating Grasp Exploration by Leveraging Learned Priors2020/11/1
- Untangling Dense Knots by Learning Task-Relevant Keypoints2020/11/1
- Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation2020/11/1
- Robots of the Lost Arc: Self-Supervised Learning to Dynamically Manipulate Fixed-Endpoint Cables2020/11/1
- Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects2020/11/1
- MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects2020/10/1
- Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones2020/10/1
- Robust 2D Assembly Sequencing via Geometric Planning with Learned Scores2020/9/1
- Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking2020/7/1
- Motion2Vec: Semi-Supervised Representation Learning from Surgical Videos2020/6/1
- X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions2020/4/1
- Industrial Robot Grasping with Deep Learning using a Programmable Logic Controller (PLC)2020/4/1
- Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data2020/3/1
- VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation2020/3/1
- Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics2020/3/1
- Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks2020/3/1
- ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions2020/3/1
- GOMP: Grasp-Optimized Motion Planning for Bin Picking2020/3/1
- Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot2020/2/1
- Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor2019/10/1
- Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects2019/9/1
- On-Policy Robot Imitation Learning from a Converging Supervisor2019/7/1
- Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks2019/5/1
- A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering2019/3/1
- Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter2019/3/1
- Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models2018/11/1
- Dynamic Regret Convergence Analysis and an Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning2018/11/1
- A Fog Robotic System for Dynamic Visual Servoing2018/9/1
- Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making2018/9/1
- Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data2018/9/1
- Constraint Estimation and Derivative-Free Recovery for Robot Learning from Demonstrations2018/1/1
- SPRK: A Low-Cost Stewart Platform For Motion Study In Surgical Robotics2017/12/1
- Using Intermittent Synchronization to Compensate for Rhythmic Body Motion During Autonomous Surgical Cutting and Debridement2017/12/1
- Learning Robust Bed Making using Deep Imitation Learning with DART2017/11/1
- DDCO: Discovery of Deep Continuous Options for Robot Learning from Demonstrations2017/10/1
- Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation2017/10/1
- Dex-Net 3.0: Computing Robust Robot Vacuum Suction Grasp Targets in Point Clouds using a New Analytic Model and Deep Learning2017/9/1
- Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure2017/9/1
- Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics2017/3/1
- Comparing Human-Centric and Robot-Centric Sampling for Robot Deep Learning from Demonstrations2016/10/1
- Toward a Science of Autonomy for Physical Systems: Paths2016/9/1
- HIRL: Hierarchical Inverse Reinforcement Learning for Long-Horizon Tasks with Delayed Rewards2016/4/1