Recovery RL: Safe Reinforcement Learning With Learned Recovery Zones

Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, +7

IEEE Robotics and Automation Letters

Artificial IntelligenceEngineeringMachine LearningRecovery RlGlobal Planning +17

Multilateral surgical pattern cutting in 2D orthotropic gauze with deep reinforcement learning policies for tensioning

Brijen Thananjeyan, Animesh Garg, Sanjay Krishnan, +3

EngineeringDeep ReinforcementGeometryDexterous ManipulationObject Manipulation +19

Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor

Daniel Seita, Aditya Ganapathi, Ryan Hoque, +11

Artificial IntelligenceEngineeringMachine LearningSequential LearningIntelligent Robotics +20

Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data

Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, +5

Artificial IntelligenceGeometric LearningRobotic SystemsEngineeringMachine Learning +21

Safety Augmented Value Estimation From Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks

Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, +6

IEEE Robotics and Automation Letters

Artificial IntelligenceEngineeringMachine LearningEducationDense Cost Function +15

SWIRL: A sequential windowed inverse reinforcement learning algorithm for robot tasks with delayed rewards

Sanjay Krishnan, Animesh Garg, Richard Liaw, +4

The International Journal of Robotics Research

Artificial IntelligenceEngineeringMachine LearningSequential LearningRobot Tasks +15

Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics

Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, +10

Realistic RenderingRobotic SystemsEngineeringDexterous ManipulationIntelligent Robotics +25

Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot

Minho Hwang, Daniel Seita, Brijen Thananjeyan, +5

Engineering3D Pose EstimationSurgeryDepth MapBiomedical Engineering +23

Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans

Minho Hwang, Jeffrey Ichnowski, Brijen Thananjeyan, +5

IEEE Transactions on Automation Science and Engineering

Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation

Samuel Paradis, Minho Hwang, Brijen Thananjeyan, +6

Artificial IntelligenceEngineeringMachine LearningPolicies RobustCognitive Robotics +22