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What's the Move? Hybrid Imitation Learning via Salient Points
Priya Sundaresan* , Hengyuan Hu*, Quan Vuong, Jeannette Bohg, Dorsa Sadigh
To Appear, International Conference on Learning Representations (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
To Appear, International Conference on Robotic Automation (ICRA), 2025.
Website / PDF
FLAIR: Feeding via Long-horizon AcquIsition of Realistic dishes
Rajat Kumar Jenamani*, Priya Sundaresan* , Maram Sakr, Tapomayukh Bhattacharjeeâ , Dorsa Sadighâ
Robotic Science and Systems (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*
Conference on Robot Learning (CoRL), 2024. â
Oral Presentationâ
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
International Conference on Learning Representations (ICLR), 2024. â
Spotlight (5%)â
Website / PDF
Open X-Embodiment: Robotic Learning Datasets and RT-X Models
Open X-Embodiment Collaboration [>150 authors]
International Conference on Robotic Automation (ICRA), 2024. â
Best Paper Awardâ
Website / PDF
KITE: Keypoint-Conditioned Policies for Semantic Manipulation
Priya Sundaresan , Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg
Conference on Robot Learning (CoRL), 2023.
Website / PDF
Learning Sequential Acquisition Policies for Robot-Assisted Feeding
Priya Sundaresan , Jiajun Wu, Dorsa Sadigh
Conference on Robot Learning (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
International Conference on Robotics and Automation (ICRA), 2023.
Website / PDF
Learning Visuo-Haptic Skewering Strategies for Robot-Assisted Feeding
Priya Sundaresan , Suneel Belkhale, Dorsa Sadigh
Conference on Robot Learning (CoRL), 2022. â
Oral Presentationâ
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
International Conference on Intelligent Robots and Systems (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
IEEE Robotics and Automation Letters (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
International Conference on Intelligent Robots and Systems (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
Robotics: Science and Systems (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
International Conference on Robotics and Automation (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
International Conference on Intelligent Robots and Systems (IROS), Workshop on Robotic Manipulation of Deformable Objects, 2020.
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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
Conference on Robot Learning (CoRL), 2020. â
Oral Presentationâ
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.
International Conference on Robotics and Automation (ICRA), 2020.
Website / PDF
Automated Extraction of Surgical Needles from Tissue Phantoms
Priya Sundaresan , Brijen Thananjeyan, Johnathan Chiu, Danyal Fer, Ken Goldberg
Conference on Automation Science and Engineering (CASE), 2019.
PDF