publications
For the up-to-date publication list, please see Google Scholar or Semantic Scholar pages.
Preprints
Papers (Journals & Conferences)
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C-Learning: Horizon-Aware Cumulative Accessibility Estimation. International Conference on Learning Representations (ICLR) 2021 arXiv project
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Skill Transfer via Partially Amortized Hierarchical Planning. International Conference on Learning Representations (ICLR) 2021 arXiv project
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Conservative Safety Critics for Exploration. International Conference on Learning Representations (ICLR) 2021 arXiv project talk
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DIBS: Diversity inducing Information Bottleneck in Model Ensembles. Confernce on Artificial Intelligence (AAAI) 2021 arXiv
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Unsupervised Disentanglement of Pose, Appearance and Background from Images and Videos. Transactions on Pattern Analysis and Machine Intelligence (T-PAMI) 2021 arXiv code
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Counterfactual Data Augmentation using Locally Factored Dynamics. Advances in Neural Information Processing Systems 33 (NeurIPS) 2020 Outstanding Paper Award at Object-Oriented Learning (OOL) Workshop, ICML 2020
arXiv code talk -
Curriculum By Smoothing. Advances in Neural Information Processing Systems 33 (NeurIPS) 2020 NeurIPS 2020 (Spotlight)
arXiv -
Causal Discovery in Physical Systems from Videos. Advances in Neural Information Processing Systems 33 (NeurIPS) 2020 arXiv project
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Learning a Contact-Adaptive Controller for Robust, Efficient Legged Locomotion. Conference on Robot Learning (CoRL) 2020 arXiv blog video
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Visuomotor Mechanical Search: Learning to Retrieve Target Objects in Clutter. IEEE International Conference on Intelligent Robots and Systems (IROS) 2020 arXiv project talk
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Angular Visual Hardness. International Conference on Machine Learning (ICML) 2020 arXiv project slides talk
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IRIS: Implicit Reinforcement without Interaction at Scale for Learning Control from Offline Robot Manipulation Data. IEEE International Conference on Robotics and Automation (ICRA) 2020 arXiv project video talk
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Combining Model-Free and Model-Based Strategies for Sample-Efficient Reinforcement Learning. IEEE International Conference on Robotics and Automation (ICRA) 2020 Best Paper Award at 2019 Neurips Workshop on Robot Learning
arXiv video talk -
Motion Reasoning for Goal-Based Imitation Learning. IEEE International Conference on Robotics and Automation (ICRA) 2020 arXiv video
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Controlling Assistive Robots with Learned Latent Actions. IEEE International Conference on Robotics and Automation (ICRA) 2020 arXiv blog video talk
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Scaling Robot Supervision to Hundreds of Hours with RoboTurk: Robotic Manipulation Dataset through Human Reasoning and Dexterity. IEEE International Conference on Intelligent Robots and Systems (IROS) 2019 IROS Best Cognitive Robotics Paper Finalist
arXiv project code blog -
Variable Impedance Control in End-Effector Space: An Action Space for Reinforcement Learning in Contact-Rich Tasks. IEEE International Conference on Intelligent Robots and Systems (IROS) 2019 arXiv project
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Continuous Relaxation of Symbolic Planner for One-Shot Imitation Learning. IEEE International Conference on Intelligent Robots and Systems (IROS) 2019 arXiv video
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AC-Teach: A Bayesian Actor-Critic Method for Policy Learning with an Ensemble of Suboptimal Teachers. Conference on Robot Learning (CoRL) 2019 arXiv project code blog
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Dynamics Learning with Cascaded Variational Inference for Multi-Step Manipulation. Conference on Robot Learning (CoRL) 2019 Oral Presentation
arXiv project -
Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision. International Journal of Robotics Research (IJRR) 2019 pdf project video
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Making Sense of Vision and Touch: Learning Multimodal Representations for Contact-Rich Tasks. IEEE Transactions on Robotics (T-RO) 2019 arXiv project
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Neural Task Graphs: Generalizing to unseen tasks from a single video demonstration. IEEE Conference on Computer Vision and Pattern Recognition (CVPR) 2019 Oral Presentation
arXiv video -
Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter. IEEE International Conference on Robotics and Automation (ICRA) 2019 abstract arXiv project video
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Making Sense of Vision and Touch: Self-Supervised Learning of Multimodal Representations for Contact-Rich Tasks. IEEE International Conference on Robotics and Automation (ICRA) 2019 ICRA Best Paper Award and Finalist: Best Cognitive Robotics Paper
arXiv project video -
Learning Task-Oriented Grasping for Tool Manipulation from Simulated Self-Supervision. Robotics: Systems and Science (RSS) 2018 arXiv project video talk
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SWIRL: A Sequential Windowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards. International Journal of Robotics Research (IJRR) 2018 pdf project
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Neural Task Programming: Learning to generalize across hierarchical tasks. IEEE International Conference on Robotics and Automation (ICRA) 2018 arXiv project video talk
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DeformNet: Free-Form Deformation Network for 3D Shape Reconstruction from a Single Image. IEEE Winter Conference on Applications of Computer Vision (WACV) 2018 arXiv project talk
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Transition State Clustering: Unsupervised surgical trajectory segmentation for robot learning. International Journal of Robotics Research (IJRR) 2017 pdf code
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AdaPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems. International Symposium on Robotics Research (ISRR) 2017 arXiv
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Weakly Supervised Generative Adversarial Networks for 3D Reconstruction. IEEE Conference on 3D Vision (3DV) 2017 arXiv code
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Adversarially Robust Policy Learning through Active Construction of Physically-Plausible Perturbations. IEEE International Conference on Intelligent Robots and Systems (IROS) 2017 pdf project video
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Multilateral Surgical Pattern Cutting in 2D Orthotropic Gauze with Deep Reinforcement Learning Policies for Tensioning. IEEE International Conference on Robotics and Automation (ICRA) 2017 pdf video
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SWIRL: A Sequential Windowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards. Workshop on Algorithmic Foundations of Robotics (WAFR) 2016 pdf talk
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Interchangeable Surgical Instrument System with Application to Supervised Automation of Multilateral Tumor Resection. . IEEE International Conference on Automation Science & Engg. (CASE) 2016 Best Video Award at 2015 Hamlyn Symposium
project video -
TSC-DL: Unsupervised Trajectory Segmentation of Multi-Modal Surgical Demonstrations with Deep Learning . IEEE International Conference on Robotics & Automation (ICRA) 2016 project code video
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Autonomous Multiple-Throw Multilateral Surgical Suturing with a Mechanical Needle Guide and Optimization based Needle Planning . IEEE International Conference on Robotics & Automation (ICRA) 2016 project video
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Tumor localization using automated palpation with Gaussian Process Adaptive Sampling. IEEE International Conference on Automation Science & Engg. (CASE) 2016 pdf project
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A Single-Use Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery. IEEE International Conference on Automation Science & Engg. (CASE) 2015 Best Poster/Demo Award at ICRA 2015 Workshop on Shared Frameworks for Medical Robotics
abstract pdf project -
Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms. IEEE International Conference on Robotics & Automation (ICRA) 2015 Finalist: Best Paper, Student Paper, and Medical Robotics Paper Award
abstract project video -
Material Evaluation of PC-ISO for Customized, 3D Printed, Gynecologic 192Ir HDR Brachytherapy Applicators. Journal of Applied Clinical Medical Physics (JACMP) 2015 project
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Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning. International Symposium on Robotics Research (ISRR) 2015 code
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Exact Reachability Analysis for Planning Skew-Line Needle Arrangements for Automated Brachytherapy. IEEE International Conference on Automation Science & Engg. (CASE) 2014 abstract project
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Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy. IEEE Transactions on Automation Science and Engineering (T-ASE) 2013 abstract pdf
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An Algorithm for Computing Customized 3D Printed Implants with Curvature Constrained Channels for Enhancing Intracavitary Brachytherapy Radiation Delivery. IEEE International Conference on Automation Science & Engg. (CASE) 2013 abstract pdf project
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Initial experiments toward automated robotic implantation of skew-line needle arrangements for HDR brachytherapy. IEEE International Conference on Automation Science & Engg. (CASE) 2012 IEEE CASE Best Application Paper Award
abstract project video talk -
Robot-guided Delivery of Brachytherapy Needles along Non-Parallel Paths to Avoid Penile Bulb Puncture. Radiotherapy and Oncology 2012 pdf
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Low-Cost Teleoperation of Remotely Located Actuators Based on Dual Tone Multi-Frequency Data Transfer. MEMS, NANO and Smart Systems 2012 abstract pdf
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The Autotrix: Design and Implementation of an Autonomous Urban Driving System. MEMS, NANO and Smart Systems 2012 abstract pdf
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Object Identification and Mapping using Monocular Vision in an Autonomous Urban Driving System. International Conference of Machine Vision 2010
Peer-Reviewed Workshops
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Turbulence forecasting via Neural ODE. Workshop on Machine Learning and the Physical Sciences at NeurIPS 2019 pdf
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Combining Model-Free and Model-Based Strategies for Sample-Efficient Reinforcement Learning. Workshop on Robot Learning at NeurIPS 2019 Best paper award at the workshop
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Hierarchical Task Generalization with Neural Programs. Conference on Robot Learning (CoRL), workshop track 2017 talk
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Towards Grasp Transfer using Shape Deformation.. Conference on Robot Learning (CoRL), workshop track 2017 pdf poster
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Hierarchical Task Generalization with Neural Programs. R:SS Workshop on New Frontiers for Deep Learning in Robotics 2017 poster
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Adversarially Robust Policy Learning through Active Construction of Physically-Plausible Perturbations. Multidisciplinary Conference on Reinforcement Learning and Decision Making (RLDM) 2017 pdf
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On Visual Feature Representations for Transition State Learning in Robotic Task Demonstrations. NIPS Workshop on Feature Extraction 2015 pdf project
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Autonomous Tumor Localization and Extraction: Palpation, Incision, Debridement and Adhesive Closure with the da Vinci Research Kit. Hamlyn Surgical Robotics Conference, London 2015 Best Video Award
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Automated Delivery Instrument for Stem Cell Treatment Using the daVinci Robotic Surgical System. Annual Meeting of the International Society for Stem Cell Research. Stockholm, Sweden. 2015 poster
Theses
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Autonomous Palpation for Tumor Localization: Design of a Palpation Probe and Gaussian Process Adaptive Sampling. MS Thesis, EECS Department, University of California, Berkeley, 2016 project
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Optimization and Design for Automation of Brachytherapy Delivery and Learning Robot-Assisted Surgical Sub-Tasks. PhD Thesis, University of California, Berkeley, 2016 project
Patents
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Precision injector/extractor for robot-assisted minimally-invasive surgery. U.S. Provisional. PCT International Application No.: PCT/US2016/039,026, June, 2016 project
Miscellaneous
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Autonomous localization and navigation using 2D laser scanners. 2010