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<!doctype html>
<html lang="en">
<head>
<!-- Required meta tags -->
<meta charset="utf-8" />
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<title>Jeffrey Ichnowski, Ph.D.</title>
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<div class="container justify-content-center">
<ul class="nav">
<li class="nav-item active">
<a class="nav-link" href="#about">About Me</a>
</li>
<li class="nav-item">
<a class="nav-link" href="#publications">Publications</a>
</li>
<li class="nav-item">
<a class="nav-link" href="#software">Software</a>
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<li class="nav-item">
<a class="nav-link" href="#patents">Patents</a>
</li>
<li class="nav-item">
<a class="nav-link" href="#teaching">Teaching</a>
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</ul>
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</nav>
<div class="container">
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<div class="col-md-3 bd-sidebar text-center">
<img src="jeff_ichnowski.jpg" alt="Jeff Ichnowski in Chile" width="130" height="130" class="rounded" />
<div class="contact">
<div class="name">Jeffrey Ichnowski, Ph.D.</div>
<div class="position">Assistant Professor</div>
<div class="instution">Robotics Institute</div>
<div class="instution">Carnegie Mellon University</div>
<div class="email mt-3">
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Google Scholar</a>
</div>
<div class="github">
<a href="https://github.com/jeffi"><span class="github"></span> GitHub</a>
</div>
<div class="youtube">
<a href="https://www.youtube.com/channel/UCjhFK_7v3PDxtsWpHiSJP2g"><span class="youtube"></span> YouTube</a>
</div>
<div class="twitter">
<a href="https://twitter.com/jeff_ichnowski"><span class="twitter"></span> Twitter</a>
</div>
<div class="bsky">
<a href="https://bsky.app/profile/jeff-ichnowski.bsky.social"><span class="bsky"></span> Bluesky</a>
</div>
</div>
</div>
<main role="main" class="col-md-9"> <!-- py-md-3 pl-md-5 bd-content"> -->
<div class="row">
<div class="col-md-12">
<div class="embed-responsive embed-responsive-21by9 mt-n1" data-toggle="tooltip" title="“GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport” ICRA 2022">
<video width="1920" height="810" class="embed-responsive-item" autoplay="autoplay" loop="loop"/>
<source src="video/GOMP-FIT-Wine-Loop-web.mp4" type="video/mp4"/>
</video>
</div>
<h2 id="about">
About Me
</h2>
<p>I am an assistant professor at the Carnegie Mellon University's Robotics Institute. Prior to that I was a post-doctoral researcher in the <a href="https://rise.cs.berkeley.edu/">RISE lab</a> and <a href="https://goldberg.berkeley.edu/">Prof. Ken Goldberg</a>’s <a href="http://autolab.berkeley.edu/">AUTOLAB</a> at the University of California at Berkeley. I hold a Ph.D. in Computer Science from the University of North Carolina at Chapel Hill, where I was advised by <a href="https://www.cs.unc.edu/~ron">Prof. Ron Alterovitz</a> and <a href="https://www.cs.unc.edu/~prins">Prof. Jan Prins</a>; and I hold a B.A. in Computer Science and Asian Studies with Honors from University of California at Berkeley. Between my B.A. and Ph.D., I founded numerous startups and was the principal architect at SuccessFactors, Inc., one of the world's leading cloud-based software-as-a-service companies. My research interests are in robot grasp and motion planning in dynamic environments using cloud-based high-performance computing, optimization, and deep learning.</p>
</div>
</div>
<div class="row">
<div class="col-sm-12">
<h2 id="publications">
Publications
</h2>
<!--
<h3>
Recent Publications
</h3>
-->
<ul class="pubs">
<!-- ICRA 2023 -->
<li class="ichnowski2023fogros2">
<span class="title">
FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2
</span>
<span class="author">
Jeffrey Ichnowski<span data-toggle="tooltip" title="Equal Contribution">*</span>,
Kaiyuan Chen<span data-toggle="tooltip" title="Equal Contribution">*</span>,
Karthik Dharmarajan,
Simeon Adebola,
Michael Danielczuk,
Víctor Mayoral-Vilches,
Nikhil Jha,
Hugo Zhan,
Edith LLontop,
Derek Xu,
John Kubiatowicz,
Ion Stoica,
Joseph Gonzalez,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2023 <i>(to appear)</i>
<div class="links">
<a href="https://arxiv.org/pdf/2205.09778"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2205.09778">arXiv</a>
</div>
</li>
<li class="shivakumar2023sgtm2">
<span class="title">
SGTM 2.0: Autonomously Untangling Long Cables using Interactive Perception
</span>
<span class="author">
Kaushik Shivakumar,
Vainavi Viswanath,
Anrui Gu,
Yahav Avigal,
Justin Kerr,
Jeffrey Ichnowski,
Richard Cheng,
Thomas Kollar,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2023 <i>(to appear)</i>
<div class="links">
<a href="https://sites.google.com/view/sgtm2">Website</a>
</div>
</li>
<!-- CoRL 2022 -->
<li class="kerr2022evonerf">
<span class="title">
Evo-NeRF: Evolving NeRF for Sequential Robot Grasping of Transparent Objects
</span>
<span class="author">
Justin Kerr,
Letian Fu,
Huang Huang,
Yahav Avigal,
Matthew Tancik,
Jeffrey Ichnowski,
Angjoo Kanazawa,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
Conference on Robot Learning (CoRL)
</span>
2022
<div class="links">
<a href="https://openreview.net/pdf?id=Bxr45keYrf"><span class="pdf"></span> PDF</a>
<a href="https://openreview.net/forum?id=Bxr45keYrf">Open Review</a>
<a href="https://sites.google.com/view/evo-nerf">Website</a>
</div>
</li>
<!-- ISRR 2022 -->
<li class="agboh2022mog">
<span class="title">
Multi-Object Grasping in the Plane
</span>
<span class="author">
Wisdom Agboh,
Jeffrey Ichnowski,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
Mehmet Dogar,
</span>
<span class="conference">
International Symposium on Robotics Research (ISRR)
</span>
2022
<div class="links">
<a href="https://arxiv.org/pdf/2206.00229.pdf"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2206.00229">arXiv</a>
<a href="https://sites.google.com/view/multi-object-grasping">Website</a>
</div>
</li>
<li class="huang2022stacking">
<span class="title">
Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects
</span>
<span class="author">
Huang Huang,
Letian Fu,
<a href="https://mjd3.github.io/">Michael Danielczuk</a>,
Chung Min Kim,
Zachary Tam,
Jeffrey Ichnowski,
Anelia Angelova,
Brian Ichter,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
International Symposium on Robotics Research (ISRR)
</span>
2022
<div class="links">
<a href="https://arxiv.org/pdf/2207.02347.pdf"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2207.02347">arXiv</a>
<a href="https://sites.google.com/berkeley.edu/stax-ray">Website</a>
</div>
</li>
<li class="chen2022fling">
<span class="title">
Efficiently Learning Single-Arm Fling Motions to Smooth Garments
</span>
<span class="author">
Lawrence Yunliang Chen,
Huang Huang,
Ellen Novoseller,
<a href="https://www.cs.cmu.edu/~dseita/">Daniel Seita</a>,
Jeffrey Ichnowski,
Michael Laskey,
Richard Cheng,
Thomas Kollar,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
International Symposium on Robotics Research (ISRR)
</span>
2022
<div class="links">
<a href="https://arxiv.org/pdf/2206.08921.pdf"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2206.08921">arXiv</a>
<a href="https://sites.google.com/view/single-arm-fling">Website</a>
</div>
</li>
<!-- IROS 2022 -->
<li class="chen2022fogrosg">
<span class="title">
FogROS G: Enabling Secure, Connected and Mobile Fog Robotics with Global Addressability
</span>
<span class="author">
Kaiyuan Chen,
Jiachen Yuan,
Nikhil Jha,
Jeffrey Ichnowski,
John Kubiatowicz,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Workshop on <i>Cloud and Fog Robotics In The Age of Deep Learning</i>
</span>
2022
<div class="links">
<a href="https://arxiv.org/pdf/2210.11691.pdf"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2210.11691">arXiv</a>
</div>
</li>
<li class="hwang2022pegtransfer">
<span class="title">
Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans
</span>
<span class="author">
Minho Hwang,
Jeffrey Ichnowski,
Brijen Thananjeyan,
Daniel Seita,
Samuel Paradis,
Danyal Fer,
Thomas Low,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
</span>
2022
<div class="links">
<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9772013"><span class="pdf"></span> PDF</a>
<a href="https://sites.google.com/view/surgicalpegtransfer">Website</a>
<a href="https://github.com/BerkeleyAutomation/FLSpegtransferHO/"><span class="github"></span> Code</a>
<a href="https://github.com/BerkeleyAutomation/dvrkCalibration/tree/master/3D_modeling"><span class="github"></span> 3D Models</a>
</div>
</li>
<!-- CASE 2022 -->
<li class="bonne2022digitaltwin">
<span class="title">
A Digital Twin Framework for Telesurgery in the Presence of Varying Network Quality of Service
</span>
<span class="author">
Sophea Bonne,
Will Panitch,
Karthik Dharmarajan,
Kishore Srinivas,
Jerri-Lynn Kincade,
Thomas Low,
Bruce Knoth,
Cregg Cowan,
Danyal Fer,
<a href="https://bthananjeyan.github.io/">Brijen Thananjeyan</a>,
Justin Kerr,
Jeffrey Ichnowski,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Automation Science and Engineering (CASE)
</span>
2022
<div class="links">
<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9926585"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2206.08607">arXiv</a>
</div>
</li>
<li class="chen2022osa">
<span class="title">
Optimal Shelf Arrangement to Minimize Robot Retrieval Time
</span>
<span class="author">
Lawrence Yunliang Chen,
Huang Huang,
<a href="https://mjd3.github.io/">Michael Danielczuk</a>,
Jeffrey Ichnowski,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Automation Science and Engineering (CASE)
</span>
2022
<div class="links">
<a href="https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=9926722"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2206.08607">arXiv</a>
<a href="https://sites.google.com/berkeley.edu/osa">Website</a>
</div>
</li>
<!-- RSS 2022 -->
<li class="shivakumar2022autonomously">
<span class="title">
Autonomously Untangling Long Cables <span data-toggle="tooltip" title="Best Systems Paper">☆</span>
</span>
<span class="author">
Vainavi Viswanath<span data-toggle="tooltip" title="Equal Contribution">*</span>,
Kaushik Shivakumar<span data-toggle="tooltip" title="Equal Contribution">*</span>,
Justin Kerr<span data-toggle="tooltip" title="Equal Contribution">*</span>,
Brijen Thananjeyan,
Ellen Novoseller,
Jeffrey Ichnowski,
Alejandro Escontrela,
Michael Laskey,
Joseph E. Gonzalez,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
Robotics Science and Systems (RSS)
</span>
2022
<div class="award">
☆ Best Systems Paper
</div>
<div class="links">
<a href="http://www.roboticsproceedings.org/rss18/p034.pdf"><span class="pdf"></span> PDF</a>
<a href="https://roboticsconference.org/2022/program/papers/034/">Proceedings</a>
<a href="https://sites.google.com/view/rss-2022-untangling/home">Website</a>
</div>
</li>
<!-- WAFR 2022 -->
<li class="AvigalIchnowski2022gompst">
<span class="title">
GOMP-ST: Grasp-Optimized Motion Planning for Suction Transport
</span>
<span class="author">
<a href="https://yahavigal.github.io/">Yahav Avigal</a><span data-toggle="tooltip" title="Equal Contribution">*</span>,
Jeffrey Ichnowski<span data-toggle="tooltip" title="Equal Contribution">*</span>,
Max Yiye Cao,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">Proc. Algorithmic Foundations of Robotics (WAFR)</span>
2022
<div class="links">
<a href="https://arxiv.org/pdf/2203.08359"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2203.08359">arXiv</a>
<!-- <a href="https://sites.google.com/view/gomp-st">Website</a> -->
</div>
</li>
<li class="lim2022oed">
<span class="title">
Policy-Based Bayesian Experimental Design for Non-Differentiable Implicit Models
</span>
<span class="author">
Vincent Lim,
Ellen Novoseller,
Jeffrey Ichnowski,
Huang Huang,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
<i>Under Review</i>,
</span>
2022
<div class="links">
<a href="https://arxiv.org/pdf/2203.04272"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2203.04272">arXiv</a>
</div>
</li>
<li class="ichnowski2021gompfit">
<span class="title">
GOMP-FIT: Grasp-Optimized Motion Planning for Fast Inertial Transport
</span>
<span class="author">
Jeffrey Ichnowski,
<a href="https://yahavigal.github.io/">Yahav Avigal</a>,
Yi Liu,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2022
<div class="links">
<a href="https://arxiv.org/pdf/2110.15326.pdf"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2110.15326">arXiv</a>
<a href="https://youtu.be/OWJjSHdtojY"><span class="youtube"></span> Video</a>
<a href="https://berkeleyautomation.github.io/gomp-fit/">Website</a>
</div>
</li>
<li class="lim2022prc">
<span class="title">
Planar Robot Casting: Dynamic Single-Action Manipulation of Free-End Cables with Real2Sim2Real Self-Supervised Learning
</span>
<span class="author">
Vincent Lim,
Huang Huang,
<a href="https://yunliangchen.github.io/">Lawrence Yunliang Chen</a>,
Johnathan Wang,
Jeffrey Ichnowski,
<a href="https://www.cs.cmu.edu/~dseita/">Daniel Seita</a>,
Michael Laskey,
Ken Goldberg
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2022
<div class="links">
</div>
</li>
<li class="fu2022legs">
<span class="title">
LEGS: Learning Efficient Grasp Sets for Exploratory Grasping
</span>
<span class="author">
Leitan Fu,
<a href="https://mjd3.github.io/">Michael Danielczuk</a>,
Ashwin Balakrishna,
Daniel Brown,
Eugen Solowjow,
Ken Goldberg
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2022
<div class="links">
</div>
</li>
<li class="WilcoxKerr2022houston">
<span class="title">
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles
</span>
<span class="author">
Albert Wilcox,
Justin Kerr,
<a href="https://bthananjeyan.github.io/">Brijen Thananjeyan</a>,
Jeffrey Ichnowski,
Minho Hwang,
Samuel Paradis,
Danyal Fer,
Ken Goldberg
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2022
<div class="links">
</div>
</li>
<li class="huang2022bluction">
<span class="title">
Mechanical Search on Shelves using a Novel "Bluction" Tool
</span>
<span class="author">
Huang Huang,
<a href="https://mjd3.github.io/">Michael Danielczuk</a>,
Chung Min Kim,
Leitan Fu,
Zach Tam,
Jeffrey Ichnowski,
Anelia, Angelova,
Brian Ichter,
Ken Goldberg
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2022
<div class="links">
</div>
</li>
<li class="IchnowskiAvigal2021dexnerf">
<span class="title">
Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects
</span>
<span class="author">
Jeffrey Ichnowski<span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="https://yahavigal.github.io/">Yahav Avigal</a><span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="https://kerrj.github.io/">Justin Kerr</a>,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
Conference on Robot Learning (CoRL)
</span>
2021
<div class="links">
<a href="https://openreview.net/pdf?id=zOjU2vZzhCk"><span class="pdf"></span> PDF</a>
<!-- <a href="https://arxiv.org/pdf/2110.14217.pdf"><span class="pdf"></span> PDF</a> -->
<a href="https://arxiv.org/abs/2110.14217">arXiv</a>
<a href="https://openreview.net/forum?id=zOjU2vZzhCk">OpenReview</a>
<a href="https://youtu.be/F9R6Nf1d7P4"><span class="youtube"></span> Video</a>
<a href="https://sites.google.com/view/dex-nerf">Website</a>
<a href="https://twitter.com/yahavigal/status/1453769964582674438"><span class="twitter"></span> Tweet</a>
</div>
<div class="press">
<span class="press">Press:</span>
<a href="https://www.wired.com/story/new-way-ai-see-3d/">WiReD</a>
</div>
</li>
<li class="ichnowski2021rlqp">
<span class="title">
Accelerating Quadratic Optimization with Reinforcement Learning
</span>
<span class="author">
Jeffrey Ichnowski<span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="https://www.parasjain.com/">Paras Jain</a><span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="https://stellato.io/">Bartolomeo Stellato</a>,
<a href="https://people.ee.ethz.ch/~gbanjac/">Goran Banjac</a>,
Michael Luo,
<a href="https://me.berkeley.edu/people/francesco-borrelli/">Francesco Borrelli<a/>,
<a href="https://people.eecs.berkeley.edu/~jegonzal/">Joseph E. Gonzalez</a>,
<a href="https://people.eecs.berkeley.edu/~istoica/">Ion Stoica</a>,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
Conference on Neural Information Processing Systems (NeurIPS)
</span>
2021
<div class="links">
<!-- <a href="https://arxiv.org/pdf/2107.10847"><span class="pdf"></span> PDF</a> -->
<a href="https://openreview.net/pdf?id=5FtUGRvwEF"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2107.10847">arXiv</a>
<a href="https://berkeleyautomation.github.io/rlqp/">Website</a>
<a href="https://github.com/berkeleyautomation/rlqp"><span class="github"></span> Code</a>
<a href="https://twitter.com/_parasj/status/1418650400832376834"><span class="twitter"></span> Tweet</a>
<a href="https://nips.cc/Conferences/2021/ScheduleMultitrack?event=26028">NeurIPS event</a>
<a href="https://ieor.berkeley.edu/event/11-29-jeffrey-ichnowski-accelerating-quadratic-optimization-with-reinforcement-learning/">Berkeley IEOR Seminar Series Talk</a>
</div>
</li>
<li class="viswanath2021multicable">
<span class="title">
Disentangling Dense Multi-Cable Knots
</span>
<span class="author">
Vainavi Viswanath,
<a href="https://jenngrannen.com/">Jennifer Grannen</a>,
<a href="http://priya.sundaresan.us/">Priya Sundaresan</a>,
<a href="https://bthananjeyan.github.io/">Brijen Thananjeyan</a>,
<a href="https://abalakrishna123.github.io/">Ashwin Balakrishna</a>,
<a href="https://ernovoseller.github.io/">Ellen Novoseller</a>,
Jeffrey Ichnowski,
Michael Laskey,
<a href="https://people.eecs.berkeley.edu/~jegonzal/">Joseph E. Gonzalez</a>,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
</span>
2021
<div class="links">
<a href="https://arxiv.org/pdf/2106.02252"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2106.02252">arXiv</a>
</div>
</li>
<li class="HuangDominguezKuhne2020laxray">
<span class="title">
Mechanical Search on Shelves using Lateral Access X-Ray (LAX-RAY)
</span>
<span class="author">
Huang Huang<span data-toggle="tooltip" title="Equal Contribution">*</span>,
Marcus Dominguez-Kuhne<span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="https://mjd3.github.io/">Michael Danielczuk</a>,
Jeffrey Ichnowski,
Vishal Satish,
Kate Sanders,
Andrew Lee,
<a href="https://research.google/people/AneliaAngelova/">Anelia Angelova</a>,
<a href="https://research.google/people/VincentVanhoucke/">Vincent Vanhoucke</a>,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
</span>
2021
<div class="links">
<!-- <a href="https://sites.google.com/berkeley.edu/lax-ray/home/paper?authuser=0"><span class="pdf"></span> PDF</a> -->
<a href="https://arxiv.org/pdf/2011.11696"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2011.11696">arXiv</a>
<a href="https://sites.google.com/berkeley.edu/lax-ray/home">website</a>
<a href="http://ai.stanford.edu/mech-search/shelf/">mechanical search project</a>
</div>
<div class="press">
<span class="press">Press:</span>
<a href="https://venturebeat.com/2020/11/26/robotics-researchers-propose-ai-that-locates-items-on-shelves-and-moves-objects-without-tipping-them/amp/?__twitter_impression=true">VentureBeat</a>
<a href="https://techxplore.com/news/2020-11-ai-items-constricted-regions.html">Tech Xplore</a>
</div>
</li>
<li class="chen2021fogros">
<span class="title">
FogROS: An Adaptive Framework for Automating Fog Robotics Deployment
</span>
<span class="author">
Kaiyaun (Eric) Chen,
Yafei Liang,
Nikhil Jha,
Jeffrey Ichnowski,
<a href="https://mjd3.github.io/">Michael Danielczuk</a>,
<a href="https://people.eecs.berkeley.edu/~jegonzal/">Joseph E. Gonzalez</a>,
John Kubiatowicz,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Automation Science and Engineering (CASE)
</span>
2021
<div class="links">
<a href="https://arxiv.org/pdf/2108.11355"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2108.11355">arXiv</a>
<a href="https://github.com/BerkeleyAutomation/FogROS"><span class="github"></span> Code</a>
<a href="https://twitter.com/jeff_ichnowski/status/1430966652661813249"><span class="twitter"></span> Tweet</a>
</div>
</li>
<li class="devgon2021kitnet">
<span class="title">
Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities
</span>
<span class="author">
Shivin Devgon,
Jeffrey Ichnowski,
<a href="https://mjd3.github.io/">Michael Danielczuk</a>,
<a href="https://people.eecs.berkeley.edu/~dsbrown/">Daniel S Brown</a>,
<a href="https://abalakrishna123.github.io/">Ashwin Balakrishna</a>,
Shirin Joshi,
Eduardo Rocha,
Eugen Solowjow,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Automation Science and Engineering (CASE)
</span>
2021
<div class="links">
<a href="https://arxiv.org/pdf/2107.05789"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2107.05789">arXiv</a>
<a href="https://github.com/BerkeleyAutomation/Kit-Net"><span class="github"></span> Code</a>
</div>
</li>
<li class="SundaresanGrannen2021untangling">
<span class="title">
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
</span>
<span class="author">
<a href="http://priya.sundaresan.us/">Priya Sundaresan</a><span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="https://jenngrannen.com/">Jennifer Grannen</a><span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="https://bthananjeyan.github.io/">Brijen Thananjeyan</a>,
<a href="https://abalakrishna123.github.io/">Ashwin Balakrishna</a>,
Jeffrey Ichnowski,
<a href="https://ernovoseller.github.io/">Ellen Novoseller</a>,
<a href="https://sites.google.com/view/surgicalrobot">Minho Hwang</a>,
Michael Laskey,
<a href="https://people.eecs.berkeley.edu/~jegonzal/">Joseph E. Gonzalez</a>,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
Robotics Science and Systems (RSS)
</span>
2021
<div class="links">
<a href="https://arxiv.org/pdf/2107.08942.pdf"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2107.08942">arXiv</a>
<a href="https://sites.google.com/berkeley.edu/non-planar-untangling">Website</a>
<a href="https://drive.google.com/file/d/11T1PbSoINtn2x04IHqvWmiPZ99GgiBXQ/view">Video</a>
</div>
</li>
<!--
</ul>
<h3>
Under Review
</h3>
<ul class="pubs">
-->
<li class="hwang2021superhuman">
<span class="title">
Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks
</span>
<span class="author">
<a href="https://sites.google.com/view/surgicalrobot">Minho Hwang</a>,
<a href="https://bthananjeyan.github.io/">Brijen Thananjeyan</a>,
<a href="https://www.cs.cmu.edu/~dseita/">Daniel Seita</a>,
Jeffrey Ichnowski,
Samuel Paradis,
Danyal Fer,
Thomas Low,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
(under review)
</span>
<div class="links">
<a href="https://arxiv.org/pdf/2012.12844"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2012.12844">arXiv</a>
</div>
</li>
<!--
</ul>
<h3>
Peer Reviewed
</h3>
<ul class="pubs">
-->
<li class="zhang2021lostarc">
<span class="title">
Robots of the Lost Arc: Learning to Dynamically Manipulate Fixed-Endpoint Ropes and Cables
</span>
<span class="author">
<a href="https://sites.google.com/berkeley.edu/hzhang/home">Harry Zhang</a>,
Jeffrey Ichnowski,
<a href="https://www.cs.cmu.edu/~dseita/">Daniel Seita</a>,
Jonathan Wang,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2021
<div class="links">
<a href="https://arxiv.org/pdf/2011.04840"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2011.04840">arXiv</a>
<a href="https://sites.google.com/berkeley.edu/dynrope/home">website</a>
<a href="https://www.youtube.com/watch?v=VEniaT3mNHk&ab_channel=HarryZhang"><span class="youtube"></span> video submission</a>
</div>
<div class="press">
<span class="press">Press:</span>
<a href="https://venturebeat.com/2020/11/26/robotics-researchers-propose-ai-that-locates-items-on-shelves-and-moves-objects-without-tipping-them/">VentureBeat</a>
</div>
</li>
<li class="anand2021">
<span class="title">
Serverless Multi-Query Motion Planning for Fog Robotics
</span>
<span class="author">
Raghav Anand,
Jeffrey Ichnowski,
<a href="http://cgwu.io/">Chenggang Wu</a>,
<a href="https://dsf.berkeley.edu/jmh/">Joseph M. Hellerstein</a>,
<a href="https://people.eecs.berkeley.edu/~jegonzal/">Joseph E. Gonzalez</a>,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2021
<div class="links">
<a href="papers/2021-ICRA-Anand-Serverless_Graph_Motion_Planning.pdf"><span class="pdf"></span> PDF</a>
<a href="https://sites.google.com/berkeley.edu/graph-based-serverless-mp/home">website</a>
</div>
</li>
<li class="kurenkov2020hms">
<span class="title">
Multi-Layer Semantic and Geometric Modeling with Neural Message Passing in 3D Scene Graphs for Hierarchical Mechanical Search
</span>
<span class="author">
<a href="http://www.andreykurenkov.com/">Andrey Kurenkov</a>,
<a href="https://robertomartinmartin.com/">Roberto Martín-Martín</a>,
Jeffrey Ichnowski,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
<a href="http://cvgl.stanford.edu/silvio/">Silvio Savarese</a>,
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2021
<div class="links">
<a href="http://ai.stanford.edu/mech-search/pdfs/2020_icra_semantic_search.pdf"><span class="pdf"></span> PDF</a>
<a href="http://ai.stanford.edu/mech-search/hms/">website</a>
</div>
</li>
<li class="paradis2021ivs">
<span class="title">
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation
</span>
<span class="author">
Samuel Paradis,
<a href="https://sites.google.com/view/surgicalrobot">Minho Hwang</a>,
<a href="https://bthananjeyan.github.io/">Brijen Thananjeyan</a>,
Jeffrey Ichnowski,
<a href="https://www.cs.cmu.edu/~dseita/">Daniel Seita</a>,
Danyal Fer,
Thomas Low,
<a href="https://people.eecs.berkeley.edu/~jegonzal/">Joseph E. Gonzalez</a>,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Robotics and Automation (ICRA)
</span>
2021
<div class="links">
<a href="https://arxiv.org/pdf/2011.06163"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2011.06163">arXiv</a>
<a href="https://sites.google.com/berkeley.edu/ivs/home">website</a>
</div>
</li>
<li class="ichnowski2020djgomp">
<span class="title">
Deep learning can accelerate grasp-optimized motion planning <span data-toggle="tooltip" title="Cover Article">☆</span>
</span>
<span class="author">
Jeffrey Ichnowski,
<a href="https://yahavigal.github.io/">Yahav Avigal</a>,
Vishal Satish,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
Science Robotics,
</span>
Nov. 2020
<div class="award">
☆ Cover Article
</div>
<div class="links">
<a href="https://goldberg.berkeley.edu/pubs/SR-DJ-GOMP-Nov-2020.pdf"><span class="pdf"></span> PDF</a>
<a href="https://robotics.sciencemag.org/content/5/48/eabd7710">article</a>
<a href="https://berkeleyautomation.github.io/dj-gomp/">website</a>
<a href="bibtex/ichnowski2020djgomp.bib">BibTeX</a>
<a href="https://www.nvidia.com/en-us/on-demand/session/gtcspring21-s31905/">
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<title>NVIDIA</title>
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</svg> GTC Presentation</a>
</div>
<div class="press">
<span class="press">Press:</span>
<a href="https://news.berkeley.edu/2020/11/18/deep-learning-helps-robots-grasp-and-move-objects-with-ease/">Berkeley News</a>
<a href="https://www.newscientist.com/article/2260014-warehouse-robots-upgraded-to-make-packing-decisions-350-times-faster/">New Scientist</a>
<a href="https://techcrunch.com/2020/11/18/interlocking-ais-let-robots-pick-and-place-faster-than-ever/">TechCrunch</a>
<a href="https://jp.techcrunch.com/2020/11/19/2020-11-18-interlocking-ais-let-robots-pick-and-place-faster-than-ever/">TC 日本</a>
<a href="https://www.thetimes.co.uk/article/holding-on-to-job-becomes-harder-as-robots-get-a-grip-mrkhp3nsm">The Times</a>
<a href="https://finance.yahoo.com/news/interlocking-ais-let-robots-pick-190131191.html">Yahoo!</a>
<a href="https://techxplore.com/news/2020-11-deep-robots-grasp-ease.html">Tech Xplore</a>
<a href="https://www.miragenews.com/deep-learning-helps-robots-grasp-and-move-objects-with-ease/">Mirage</a>
<a href="https://www.sciencedaily.com/releases/2020/11/201118141827.htm">ScienceDaily</a>
<a href="https://cosmosmagazine.com/news/making-robots-useful-in-the-warehouse/">Cosmos</a>
<a href="https://www.analyticsinsight.net/deep-learning-will-make-robots-grasp-and-move-objects-easily/">Analytics Insight</a>
<a href="https://www.engineering.com/DesignSoftware/DesignSoftwareArticles/ArticleID/20996/Deep-Learning-Software-Accelerates-Robots-Ability-to-Grasp-and-Move-Objects.aspx">engineering.com</a>
<!-- Filled with popups, bleh.
<a href="https://trading-u.com/storage-robots-have-been-upgraded-to-make-packaging-decisions-350-times-faster/">Trading U</a> -->
<a href="https://www.therobotreport.com/neural-networks-plus-motion-planning-equals-more-nimble-robots-uc-berkeley/">The Robot Report</a>
</div>
</li>
<li class="GrannenSundaresan2020HULK">
<span class="title">
Untangling Dense Knots by Learning Task-Relevant Keypoints <span data-toggle="tooltip" title="One of 20 selected for plenary talk">☆</span>
</span>
<span class="author">
<a href="https://jenngrannen.com/">Jennifer Grannen</a><span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="http://priya.sundaresan.us/">Priya Sundaresan</a><span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="https://bthananjeyan.github.io/">Brijen Thananjeyan</a>,
Jeffrey Ichnowski,
<a href="https://abalakrishna123.github.io/">Ashwin Balakrishna</a>,
<a href="https://sites.google.com/view/surgicalrobot">Minho Hwang</a>,
Vainavi Viswanath,
Michael Laskey,
<a href="https://people.eecs.berkeley.edu/~jegonzal/">Joseph E. Gonzalez</a>,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
Conference on Robot Learning (CoRL)
</span>
Nov. 2020
<div class="award">
☆ One of 20 selected for plenary talk
</div>
<div class="links">
<a href="https://arxiv.org/pdf/2011.04999.pdf"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2011.04999">arXiv</a>
<a href="https://sites.google.com/berkeley.edu/corl2020ropeuntangling/home">website</a>
<a href="https://drive.google.com/file/d/1XwwQ05sg989wioUOrwmLJhM5gsc8tNXj/view">video</a>
<a href="https://github.com/priyasundaresan/blender-rope-sim"><span class="github"></span> Simulation</a>
<a href="https://github.com/jenngrannen/hulk-keypoints"><span class="github"></span> Training</a>
<a href="bibtex/GrannenSundaresan2020HULK.bib">BibTeX</a>
</div>
</li>
<li class="hwangseita2020applying">
<span class="title">
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot
</span>
<span class="author">
<a href="https://sites.google.com/view/surgicalrobot">Minho Hwang</a><span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="https://www.cs.cmu.edu/~dseita/">Daniel Seita</a><span data-toggle="tooltip" title="Equal Contribution">*</span>,
<a href="https://bthananjeyan.github.io/">Brijen Thananjeyan</a>,
Jeffrey Ichnowski,
Samuel Paradis,
Danyal Fer,
Thomas Low,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
International Symposium on Medical Robotics (ISMR)
</span>
online (Atlanta, GA). Nov 2020.
<div class="links">
<a href="https://goldberg.berkeley.edu/pubs/2020-ISMR-minho-depth-dvrk.pdf"><span class="pdf"></span> PDF</a>
<a href="https://arxiv.org/abs/2002.06302">arXiv</a>
<a href="https://sites.google.com/view/peg-transfer">website</a>
<a href="https://github.com/BerkeleyAutomation/FLSpegtransfer"><span class="github"></span> GitHub</a>
<a href="bibtex/hwangseita2020applying.bib">BibTeX</a>
</div>
</li>
<li class="devgon2020orienting">
<span class="title">
Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms
</span>
<span class="author">
Shivin Devgon,
Jeffrey Ichnowski,
<a href="https://abalakrishna123.github.io/">Ashwin Balakrishna</a>,
<a href="https://sites.google.com/berkeley.edu/hzhang/home">Harry Zhang</a>,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>
<span class="conference">
IEEE International Conference on Automation Science and Engineering (CASE)
</span>
2020
<div class="links">
<a href="https://berkeleyautomation.github.io/Orienting_Novel_3D_Objects/">website</a>
<a href="https://github.com/BerkeleyAutomation/Orienting_Novel_3D_Objects"><span class="github"></span> GitHub</a>
<a href="https://youtu.be/nij_JgNP1qw"><span class="youtube"></span> YouTube</a>
<a href="bibtex/devgon2020orienting.bib">BibTeX</a>
</div>
</li>
<li class="song2020robust">
<span class="title">
Robust Task-Based Grasping as a Service
</span>
<span class="author">
Jingyi Song,
Ajay Kumar Tanwani,
Jeffrey Ichnowski,
<a href="https://mjd3.github.io/">Michael Danielczuk</a>,
Kate Sanders,
Jackson Chui,
Juan A. Ojea,
<a href="https://goldberg.berkeley.edu/">Ken Goldberg</a>,
</span>