Priya Sundaresan

I am a 1st year PhD student at Stanford University, advised by Professor Dorsa Sadigh in the Stanford Intelligent and Interactive Autonomous Systems Group (ILIAD) and Jeannette Bohg in the Interactive Perception and Robot Learning Lab. I am interested in robot manipulation through multimodal perception, and 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 within Berkeley AI Research (BAIR).

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

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Research
diffcloud 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
bayes-real2sim 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
mult-cable-untangling 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
nonplanar-untangling 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
descriptors-fabric 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 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.
PDF
untangling 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. Oral Presentation
Website / PDF
rope-manip 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
needle-extraction 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
For Fun
diffcloud 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.

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