Priya Sundaresan
I am a 3rd year PhD student at Stanford University, co-advised by Professors Dorsa Sadigh and Jeannette Bohg. I am interested in real-world robot manipulation, from improving low-level sensorimotor control to developing better representations for high-level planning and goal specification. 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 and [Google] Intrinsic.
Please feel free to reach out!
priyasun@stanford.edu  / 
CV  / 
Github  / 
Google Scholar  / 
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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 (To Appear).
Website / PDF
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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*
Under Submission, 2023
Website / PDF / VentureBeat
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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
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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
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KITE: Keypoint-Conditioned Policies for Semantic Manipulation
Priya Sundaresan, Suneel Belkhale, Dorsa Sadigh, Jeannette Bohg
Conference on Robot Learning (CoRL), 2023.
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Learning Sequential Acquisition Policies for Robot-Assisted Feeding
Priya Sundaresan, Jiajun Wu, Dorsa Sadigh
Conference on Robot Learning (CoRL), 2023.
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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
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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
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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
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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.
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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
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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.
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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
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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
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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
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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.
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