Priya Sundaresan

I am a final year PhD candidate at Stanford University, co-advised by Professors Dorsa Sadigh and Jeannette Bohg. I am interested in imitation learning and representation learning for real-world manipulation. I am funded by the National Science Foundation Graduate Fellowship.

Before Stanford, I completed my B.S. and M.S. at UC Berkeley, where I worked with Professor Ken Goldberg in the AUTOLAB. I have also previously spent summers interning at Amazon Robotics, [Google] Intrinsic, and Google DeepMind.

Please feel free to reach out!

priyasun@stanford.edu / CV / Github / Google Scholar / X

Research

Papers are sorted by recency. Representative works are highlighted in light green.

	HoMeR: Learning In-the-Wild Mobile Manipulation via Hybrid Imitation and Whole-Body Control Priya Sundaresan, Rhea Malhotra, Phillip Miao, Jingyun Yang, Jimmy Wu, Hengyuan Hu, Rika Antonova, Francis Engelmann, Dorsa Sadigh, Jeannette Bohg Pre-Print 2025 Website / PDF
	What's the Move? Hybrid Imitation Learning via Salient Points Priya Sundaresan, Hengyuan Hu, Quan Vuong, Jeannette Bohg, Dorsa Sadigh ICLR 2025 Website / PDF
	Motion Tracks: A Unified Representation for Human-Robot Transfer in Few-Shot Imitation Learning Juntao Ren, Priya Sundaresan, Dorsa Sadigh, Sanjiban Choudhury, Jeannette Bohg ICRA 2025 Website / PDF
	FLAIR: Feeding via Long-horizon AcquIsition of Realistic dishes Rajat Kumar Jenamani, Priya Sundaresan, Maram Sakr, Tapomayukh Bhattacharjee†, Dorsa Sadigh† RSS 2024 Website / PDF / SF Chronicle
	RT-Sketch: Goal-Conditioned Imitation Learning from Hand-Drawn Sketches Priya Sundaresan, Quan Vuong, Jiayuan Gu, Peng Xu, Ted Xiao, Sean Kirmani, Tianhe Yu, Michael Stark, Ajinkya Jain, Karol Hausman, Dorsa Sadigh, Jeannette Bohg, Stefan Schaal* CoRL 2024 ★Oral Presentation★ Website / PDF / VentureBeat
	RT-Trajectory: Robotic Task Generalization via Hindsight Trajectory Sketches Jiayuan Gu, Sean Kirmani, Paul Wohlhart, Yao Lu, Montserrat Gonzalez Arenas, Kanishka Rao, Wenhao Yu, Chuyuan Fu, Keerthana Gopalakrishnan, Zhuo Xu, Priya Sundaresan, Peng Xu, Hao Su, Karol Hausman, Chelsea Finn, Quan Vuong, Ted Xiao ICLR 2024 ★Spotlight (5%)★ Website / PDF
	Open X-Embodiment: Robotic Learning Datasets and RT-X Models Open X-Embodiment Collaboration [>150 authors] ICRA 2024 ★Best Paper Award★ Website / PDF
	KITE: Keypoint-Conditioned Policies for Semantic Manipulation Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg CoRL 2023 Website / PDF
	Learning Sequential Acquisition Policies for Robot-Assisted Feeding Priya Sundaresan, Jiajun Wu, Dorsa Sadigh CoRL 2023 Website / PDF
	In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing Lorenzo Shaikewitz, Yilin Wu, Suneel Belkhale, Jennifer Grannen, Priya Sundaresan*, Dorsa Sadigh ICRA 2023 Website / PDF
	Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh CoRL 2022 ★Oral Presentation★ Website / PDF / Stanford HAI Blogpost
	DiffCloud: Real-to-Sim from Point Clouds with Differentiable Simulation and Rendering of Deformable Objects Priya Sundaresan, Rika Antonova, Jeannette Bohg IROS 2022 Website / PDF
	A Bayesian Treatment of Real-to-Sim for Deformable Object Manipulation Rika Antonova, Jingyun Yang, Priya Sundaresan, Dieter Fox, Fabio Ramos, Jeannette Bohg RA-L 2022 PDF
	Disentangling Dense Multi-Cable Knots Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan*, Brijen Thananjeyan, Ashwin Balakrishna, Ellen Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg IROS 2021 Website / PDF
	Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg RSS 2021 Website / PDF
	Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics 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 ICRA 2021 Website / PDF
	MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects. Priya Sundaresan, Aditya Ganapathi, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Ryan Hoque, Joseph Gonzalez, Ken Goldberg IROS 2020 Workshop on Robotic Manipulation of Deformable Objects, 2020. PDF
	Untangling Dense Knots by Learning Task-Relevant Keypoints Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg CoRL 2020 ★Oral Presentation★ Website / PDF
	Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data. Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg. ICRA 2020 Website / PDF
	Automated Extraction of Surgical Needles from Tissue Phantoms Priya Sundaresan, Brijen Thananjeyan, Johnathan Chiu, Danyal Fer, Ken Goldberg CASE 2019 PDF

For Fun

	Bot vs. Banana A smol game inspired by HoMeR/TidyBot++! Credits: Font generator
	Doge Dodge This is a silly little game I made which is heavily inspired by the Chrome T-Rex game that pops up when there's bad connectivity (s/o to UC Berkeley's wifi!), as well as my favorite game of all time, Crossy Road!! Credits: tile art and sound effects, doge art, cactus art, background art, rock art, spike art.

	Sleepy Grad Student Another silly little game I made inspired by real events.

2013 2025	Concerts I've Been To! Outside of work I love planning my next concert! Here are all the concerts I've been to in reverse chronological order.

Shoutout to Jon Barron for the awesome website template <3.