Publications
Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans
M. Hwang et al., “Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans,” in IEEE Transactions on Automation Science and Engineering, doi: 10.1109/TASE.2022.3171795.
GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport
J. Ichnowski, Y. Avigal, Y. Liu and K. Goldberg, “GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport,” 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 5255-5261, doi: 10.1109/ICRA46639.2022.9812387.
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping
L. Fu et al., “LEGS: Learning Efficient Grasp Sets for Exploratory Grasping,” 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 8259-8265, doi: 10.1109/ICRA46639.2022.9812138.
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles
A. Wilcox et al., “Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles,” 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 9637-9643, doi: 10.1109/ICRA46639.2022.9812393.
Mechanical Search on Shelves using a Novel “Bluction” Tool
H. Huang et al., “Mechanical Search on Shelves using a Novel “Bluction” Tool,” 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 6158-6164, doi: 10.1109/ICRA46639.2022.9811622.
IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model
C. M. Kim, M. Danielczuk, I. Huang and K. Goldberg, “IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model,” 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 6180-6187, doi: 10.1109/ICRA46639.2022.9811777.
Real2Sim2Real: Self-Supervised Learning of Physical Single-Step Dynamic Actions for Planar Robot Casting
V. Lim et al., “Real2Sim2Real: Self-Supervised Learning of Physical Single-Step Dynamic Actions for Planar Robot Casting,” 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 8282-8289, doi: 10.1109/ICRA46639.2022.9811651.
Concepts and Trends in Autonomy for Robot-Assisted Surgery
P. Fiorini, K. Y. Goldberg, Y. Liu and R. H. Taylor, “Concepts and Trends in Autonomy for Robot-Assisted Surgery,” in Proceedings of the IEEE, vol. 110, no. 7, pp. 993-1011, July 2022, doi: 10.1109/JPROC.2022.3176828.
Gradient-based Algorithms for Convex Discrete Optimization via Simulation
Haixiang Zhang, Zeyu Zheng and Javad Lavaei, Gradient-based Algorithms for Convex Discrete Optimization via Simulation, Operations Research, 2022.
Dynamic Regret Bounds for Online Nonconvex Optimization
Julie Mulvaney-Kemp, SangWoo Park, Ming Jin, and Javad Lavaei, Dynamic Regret Bounds for Online Nonconvex Optimization, to appear in IEEE Transactions on Control of Network Systems, 2022.