Brijen Thananjeyan

56 papers A* 6A 3C 3Misc 5Journal 31Unranked 7
YearRankTypeTitle / Venue / Authors
2023 J jnl
Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans.
IEEE Trans Autom. Sci. Eng.
Minho Hwang, Jeffrey Ichnowski, Brijen Thananjeyan, Daniel Seita, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
2022 — conf
A Digital Twin Framework for Telesurgery in the Presence of Varying Network Quality of Service.
CASE
Sophea Bonne, Will Panitch, Karthik Dharmarajan, Kishore Srinivas, Jerri-Lynn Kincade, Thomas Low, Bruce Knoth, Cregg Cowan, Danyal Fer, Brijen Thananjeyan, Justin Kerr, Jeffrey Ichnowski, Ken Goldberg
2022 A conf
All You Need is LUV: Unsupervised Collection of Labeled Images Using UV-Fluorescent Markings.
IROS
Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg
2022 J jnl
All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators.
CoRR
Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg
2022 — conf
Autonomously Untangling Long Cables.
Robotics: Science and Systems
Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen R. Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
2022 J jnl
Autonomously Untangling Long Cables.
CoRR
Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen R. Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
2022 Misc conf
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision.
CoRL
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg
2022 J jnl
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision.
CoRR
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg
2022 A* conf
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles.
ICRA
Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg
2022 — —
Safe Reinforcement Learning Using Learned Safe Sets
Brijen Thananjeyan
2021 C conf
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions.
WAFR
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg
2021 A conf
Disentangling Dense Multi-Cable Knots.
IROS
Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen R. Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
2021 J jnl
Disentangling Dense Multi-Cable Knots.
CoRR
Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen R. Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
2021 A* conf
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation.
ICRA
Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg
2021 J jnl
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Iterative Tasks.
CoRR
Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg
2021 Misc conf
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks.
CoRL
Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg
2021 — conf
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning.
CASE
Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel S. Brown, Daniel Seita, Brijen Thananjeyan, Ellen R. Novoseller, Ken Goldberg
2021 J jnl
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning.
CoRR
Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel S. Brown, Daniel Seita, Brijen Thananjeyan, Ellen R. Novoseller, Ken Goldberg
2021 A* conf
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics.
ICRA
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
2021 J jnl
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles.
CoRR
Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg
2021 J jnl
MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance.
CoRR
Michael Luo, Ashwin Balakrishna, Brijen Thananjeyan, Suraj Nair, Julian Ibarz, Jie Tan, Chelsea Finn, Ion Stoica, Ken Goldberg
2021 J jnl
PAC Best Arm Identification Under a Deadline.
CoRR
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez
2021 J jnl
Recovery RL: Safe Reinforcement Learning With Learned Recovery Zones.
IEEE Robotics Autom. Lett.
Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg
2021 A* conf
Resource Allocation in Multi-armed Bandit Exploration: Overcoming Sublinear Scaling with Adaptive Parallelism.
ICML
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph Gonzalez
2021 Misc conf
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo.
CoRL
Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland
2021 J jnl
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo.
CoRR
Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland
2021 — conf
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies.
Robotics: Science and Systems
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph Gonzalez, Ken Goldberg
2021 J jnl
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies.
CoRR
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
2020 J jnl
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions.
CoRR
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg
2020 — conf
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot.
ISMR
Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
2020 J jnl
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot.
CoRR
Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
2020 A conf
Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor.
IROS
Daniel Seita, Aditya Ganapathi, Ryan Hoque, Minho Hwang, Edward Cen, Ajay Kumar Tanwani, Ashwin Balakrishna, Brijen Thananjeyan, Jeffrey Ichnowski, Nawid Jamali, Katsu Yamane, Soshi Iba, John F. Canny, Ken Goldberg
2020 J jnl
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Fiducial Sensing and Recurrent Neural Networks.
IEEE Robotics Autom. Lett.
Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg
2020 J jnl
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation.
CoRR
Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg
2020 J jnl
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation.
CoRR
Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg
2020 A* conf
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data.
ICRA
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg
2020 J jnl
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data.
CoRR
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg
2020 J jnl
Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images.
CoRR
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
2020 J jnl
MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects.
CoRR
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Ryan Hoque, Joseph E. Gonzalez, Ken Goldberg
2020 J jnl
Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones.
CoRR
Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg
2020 J jnl
Resource Allocation in Multi-armed Bandit Exploration: Overcoming Nonlinear Scaling with Adaptive Parallelism.
CoRR
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez
2020 J jnl
Safety Augmented Value Estimation From Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks.
IEEE Robotics Autom. Lett.
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg
2020 J jnl
Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks.
CoRR
Minho Hwang, Brijen Thananjeyan, Daniel Seita, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
2020 Misc conf
Untangling Dense Knots by Learning Task-Relevant Keypoints.
CoRL
Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Vainavi Viswanath, Michael Laskey, Joseph Gonzalez, Ken Goldberg
2020 J jnl
Untangling Dense Knots by Learning Task-Relevant Keypoints.
CoRR
Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
2019 — conf
Automated Extraction of Surgical Needles from Tissue Phantoms.
CASE
Priya Sundaresan, Brijen Thananjeyan, Johnathan Chiu, Danyal Fer, Ken Goldberg
2019 J jnl
Deep Imitation Learning of Sequential Fabric Smoothing Policies.
CoRR
Daniel Seita, Aditya Ganapathi, Ryan Hoque, Minho Hwang, Edward Cen, Ajay Kumar Tanwani, Ashwin Balakrishna, Brijen Thananjeyan, Jeffrey Ichnowski, Nawid Jamali, Katsu Yamane, Soshi Iba, John F. Canny, Ken Goldberg
2019 J jnl
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations.
CoRR
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg
2019 Misc conf
On-Policy Robot Imitation Learning from a Converging Supervisor.
CoRL
Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Felix Li, Arsh Zahed, Joseph E. Gonzalez, Ken Goldberg
2019 J jnl
On-Policy Robot Imitation Learning from a Converging Supervisor.
CoRR
Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Arsh Zahed, Felix Li, Joseph E. Gonzalez, Ken Goldberg
2019 — conf
Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities.
ISMR
Brijen Thananjeyan, Ajay Kumar Tanwani, Jessica J. Ji, Danyal Fer, Vatsal Patel, Sanjay Krishnan, Ken Goldberg
2019 J jnl
SWIRL: A sequential windowed inverse reinforcement learning algorithm for robot tasks with delayed rewards.
Int. J. Robotics Res.
Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, Ken Goldberg
2018 C conf
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models.
WAFR
Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, Sylvain Calinon
2018 J jnl
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models.
CoRR
Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, Sylvain Calinon
2017 A* conf
Multilateral surgical pattern cutting in 2D orthotropic gauze with deep reinforcement learning policies for tensioning.
ICRA
Brijen Thananjeyan, Animesh Garg, Sanjay Krishnan, Carolyn Chen, Lauren Miller, Ken Goldberg
2016 C conf
SWIRL: A SequentialWindowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards.
WAFR
Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, Ken Goldberg