Publications

Apprenticeship Learning and Reinforcement Learning with Application to Robotic Control,
Pieter Abbeel
Ph.D. Dissertation, Stanford University, Computer Science, August 2008
pdf

[ALL | Deep RL | Apprentice | Optimization-based Planning | Belief Space Planning | Hierarchical Planning | Perception | Deformable Objects | Medical Robotics | Helicopter | Connectomics ]
Pre-prints
Publications

bibtex

[111] TSC-DL: Unsupervised Trajectory Segmentation of Multi-Modal Surgical Demonstrations with Deep Learning
Adithyavairavan Murali*, Animesh Garg*, Sanjay Krishnan*, Florian T. Pokorny, Pieter Abbeel, Trevor Darrell, Ken Goldberg.
In the proceedngs of the IEEE International Conference on Robotics and Automation, (ICRA), Stockholm, Sweden. May 2016. (.pdf)

[103] Transition State Clustering: Unsupervised Surgical Trajectory Segmentation for Robot Learning,
Sanjay Krishnan*, Animesh Garg*, Sachin Patil, Colin Lea, Gregory Hager, Pieter Abbeel, Ken Goldberg.
In the proceedings of the 17th International Symposium on Robotics Research (ISRR), Sestri Levanti, Italy, September 2015. (pdf)

[101] A Disposable Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery,
Stephen McKinley, Animesh Garg, Siddarth Sen, Rishi Kapadia, Adithyavairavan Murali, Kirk Nichols, Susan Lim, Sachin Patil, Pieter Abbeel, Allison M. Okamura, Ken Goldberg.
In the proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), Aug. 2015 (pdf)

[85] Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms, Best Medical Robotics Paper Finalist,
Adithyavairavan Murali, Siddarth Sen, Ben Kehoe, Animesh Garg, Seth McFarland, Sachin Patil, Walter Douglas Boyd, Susan Lim, Pieter Abbeel, Ken Goldberg.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015. (pdf)

[74] Planning Curvature and Torsion Constrained Ribbons in 3D with Application to Intracavitary Brachytherapy,
Sachin Patil, Jia Pan, Pieter Abbeel, Ken Goldberg.
In the proceedings of the 11th International Workshop on the Algorithmic Foundations of Robotics (WAFR), Aug. 2014. (pdf)

[73] Learning Accurate Kinematic Control of Cable-Driven Surgical Robots Using Data Cleaning and Gaussian Process Regression,
Jeffrey Mahler, Sanjay Krishnan, Michael Laskey, Siddarth Sen, Adithyavairavan Murali, Ben Kehoe, Sachin Patil, Jiannan Wang, Mike Franklin, Pieter Abbeel, Ken Goldberg.
In the proceedings of the IEEE International Conference on Automation Science and Engineering (CASE), Taipei, Taiwan, Aug. 2014. (pdf)

[66] Autonomous Multilateral Debridement with the Raven Surgical Robot,
Ben Kehoe, Gregory Kahn, Jeffrey Mahler, Jonathan Kim, Alex Lee, Anna Lee, Keisuke Nakagawa, Sachin Patil, W. Douglas Boyd, Pieter Abbeel, Ken Goldberg.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2014. (pdf)

[63] A Case Study of Trajectory Transfer through Non-Rigid Registration for a Simplified Suturing Scenario,
John Schulman, Ankush Gupta, Sibi Venkatesan, Mallory Tayson-Frederick, Pieter Abbeel.
In the proceedings of the 26th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Nov 2013. (pdf, talk video, supplementary materials)

[28] Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations, Best Medical Robotics Paper Award,
Jur van den Berg, Stephen Miller, Daniel Duckworth, Humphrey Hu, Andrew Wan, Xiao-Yu Fu, Ken Goldberg and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2010. (pdf)