Brijen Thananjeyan

Publication Activity (10 Years)

Years Active: 2016-2023
Publications (10 Years): 55

Top Topics

Imitation Learning

Top Venues

IEEE Robotics Autom. Lett.

Publications

Minho Hwang, Jeffrey Ichnowski, Brijen Thananjeyan, Daniel Seita, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
Automating Surgical Peg Transfer: Calibration With Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans. IEEE Trans Autom. Sci. Eng. 20 (2) (2023)
Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg
All You Need is LUV: Unsupervised Collection of Labeled Images Using UV-Fluorescent Markings. IROS (2022)
Sophea Bonne, Will Panitch, Karthik Dharmarajan, Kishore Srinivas, Jerri-Lynn Kincade, Thomas Low, Bruce Knoth, Cregg Cowan, Danyal Fer, Brijen Thananjeyan, Justin Kerr, Jeffrey Ichnowski, Ken Goldberg
A Digital Twin Framework for Telesurgery in the Presence of Varying Network Quality of Service. CASE (2022)
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision. CoRL (2022)
Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg
Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision. CoRR (2022)
Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen R. Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Autonomously Untangling Long Cables. CoRR (2022)
Vainavi Viswanath, Kaushik Shivakumar, Justin Kerr, Brijen Thananjeyan, Ellen R. Novoseller, Jeffrey Ichnowski, Alejandro Escontrela, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Autonomously Untangling Long Cables. Robotics: Science and Systems (2022)
Brijen Thananjeyan, Justin Kerr, Huang Huang, Joseph E. Gonzalez, Ken Goldberg
All You Need is LUV: Unsupervised Collection of Labeled Images using Invisible UV Fluorescent Indicators. CoRR (2022)
Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles. ICRA (2022)
Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen R. Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Disentangling Dense Multi-Cable Knots. CoRR (2021)
Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo. CoRR (2021)
Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation. ICRA (2021)
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. WAFR (2021)
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph Gonzalez, Ken Goldberg
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies. Robotics: Science and Systems (2021)
Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Iterative Tasks. CoRR (2021)
Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg
LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks. CoRL (2021)
Thomas Kollar, Michael Laskey, Kevin Stone, Brijen Thananjeyan, Mark Tjersland
SimNet: Enabling Robust Unknown Object Manipulation from Pure Synthetic Data via Stereo. CoRL (2021)
Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel S. Brown, Daniel Seita, Brijen Thananjeyan, Ellen R. Novoseller, Ken Goldberg
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning. CASE (2021)
Albert Wilcox, Justin Kerr, Brijen Thananjeyan, Jeffrey Ichnowski, Minho Hwang, Samuel Paradis, Danyal Fer, Ken Goldberg
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles. CoRR (2021)
Michael Luo, Ashwin Balakrishna, Brijen Thananjeyan, Suraj Nair, Julian Ibarz, Jie Tan, Chelsea Finn, Ion Stoica, Ken Goldberg
MESA: Offline Meta-RL for Safe Adaptation and Fault Tolerance. CoRR (2021)
Vainavi Viswanath, Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Ellen R. Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Disentangling Dense Multi-Cable Knots. IROS (2021)
Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg
Recovery RL: Safe Reinforcement Learning With Learned Recovery Zones. IEEE Robotics Autom. Lett. 6 (3) (2021)
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
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics. ICRA (2021)
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez
PAC Best Arm Identification Under a Deadline. CoRR (2021)
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen R. Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies. CoRR (2021)
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph Gonzalez
Resource Allocation in Multi-armed Bandit Exploration: Overcoming Sublinear Scaling with Adaptive Parallelism. ICML (2021)
Ryan Hoque, Ashwin Balakrishna, Carl Putterman, Michael Luo, Daniel S. Brown, Daniel Seita, Brijen Thananjeyan, Ellen R. Novoseller, Ken Goldberg
LazyDAgger: Reducing Context Switching in Interactive Imitation Learning. CoRR (2021)
Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Untangling Dense Knots by Learning Task-Relevant Keypoints. CoRR (2020)
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Ryan Hoque, Joseph E. Gonzalez, Ken Goldberg
MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects. CoRR (2020)
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez
Resource Allocation in Multi-armed Bandit Exploration: Overcoming Nonlinear Scaling with Adaptive Parallelism. CoRR (2020)
Brijen Thananjeyan, Ashwin Balakrishna, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg
Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones. CoRR (2020)
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
Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images. CoRR (2020)
Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot. ISMR (2020)
Daniel Seita, Aditya Ganapathi, Ryan Hoque, Minho Hwang, Edward Cen, Ajay Kumar Tanwani, Ashwin Balakrishna, Brijen Thananjeyan, Jeffrey Ichnowski, Nawid Jamali, Katsu Yamane, Soshi Iba, John F. Canny, Ken Goldberg
Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor. IROS (2020)
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg
Safety Augmented Value Estimation From Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks. IEEE Robotics Autom. Lett. 5 (2) (2020)
Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation. CoRR (2020)
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data. CoRR (2020)
Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg
Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Fiducial Sensing and Recurrent Neural Networks. IEEE Robotics Autom. Lett. 5 (4) (2020)
Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation. CoRR (2020)
Minho Hwang, Daniel Seita, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot. CoRR (2020)
Minho Hwang, Brijen Thananjeyan, Daniel Seita, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
Superhuman Surgical Peg Transfer Using Depth-Sensing and Deep Recurrent Neural Networks. CoRR (2020)
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data. ICRA (2020)
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Joseph E. Gonzalez, Aaron D. Ames, Ken Goldberg
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions. CoRR (2020)
Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Vainavi Viswanath, Michael Laskey, Joseph Gonzalez, Ken Goldberg
Untangling Dense Knots by Learning Task-Relevant Keypoints. CoRL (2020)
Priya Sundaresan, Brijen Thananjeyan, Johnathan Chiu, Danyal Fer, Ken Goldberg
Automated Extraction of Surgical Needles from Tissue Phantoms. CASE (2019)
Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, Ken Goldberg
SWIRL: A sequential windowed inverse reinforcement learning algorithm for robot tasks with delayed rewards. Int. J. Robotics Res. 38 (2-3) (2019)
Brijen Thananjeyan, Ajay Kumar Tanwani, Jessica J. Ji, Danyal Fer, Vatsal Patel, Sanjay Krishnan, Ken Goldberg
Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities. ISMR (2019)
Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Felix Li, Arsh Zahed, Joseph E. Gonzalez, Ken Goldberg
On-Policy Robot Imitation Learning from a Converging Supervisor. CoRL (2019)
Daniel Seita, Aditya Ganapathi, Ryan Hoque, Minho Hwang, Edward Cen, Ajay Kumar Tanwani, Ashwin Balakrishna, Brijen Thananjeyan, Jeffrey Ichnowski, Nawid Jamali, Katsu Yamane, Soshi Iba, John F. Canny, Ken Goldberg
Deep Imitation Learning of Sequential Fabric Smoothing Policies. CoRR (2019)
Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Arsh Zahed, Felix Li, Joseph E. Gonzalez, Ken Goldberg
On-Policy Robot Imitation Learning from a Converging Supervisor. CoRR (2019)
Brijen Thananjeyan, Ashwin Balakrishna, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations. CoRR (2019)
Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, Sylvain Calinon
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models. WAFR (2018)
Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, Sylvain Calinon
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models. CoRR (2018)
Brijen Thananjeyan, Animesh Garg, Sanjay Krishnan, Carolyn Chen, Lauren Miller, Ken Goldberg
Multilateral surgical pattern cutting in 2D orthotropic gauze with deep reinforcement learning policies for tensioning. ICRA (2017)
Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, Ken Goldberg
SWIRL: A SequentialWindowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards. WAFR (2016)