Goldberg, Ken

39 publications

CoRL 2025 Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop Justin Kerr, Kush Hari, Ethan Weber, Chung Min Kim, Brent Yi, Tyler Bonnen, Ken Goldberg, Angjoo Kanazawa

ICML 2025 OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction Huang Huang, Fangchen Liu, Letian Fu, Tingfan Wu, Mustafa Mukadam, Jitendra Malik, Ken Goldberg, Pieter Abbeel

CoRL 2025 Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware Justin Yu, Letian Fu, Huang Huang, Karim El-Refai, Rares Andrei Ambrus, Richard Cheng, Muhammad Zubair Irshad, Ken Goldberg

TMLR 2025 Rethinking Patch Dependence for Masked Autoencoders Letian Fu, Long Lian, Renhao Wang, Baifeng Shi, XuDong Wang, Adam Yala, Trevor Darrell, Alexei A Efros, Ken Goldberg

NeurIPS 2025 Robo2VLM: Improving Visual Question Answering Using Large-Scale Robot Manipulation Data Kaiyuan Chen, Shuangyu Xie, Zehan Ma, Pannag R Sanketi, Ken Goldberg

ICML 2024 A Touch, Vision, and Language Dataset for Multimodal Alignment Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg

NeurIPSW 2024 Aligning Touch, Vision, and Language for Multimodal Perception Letian Fu, Gaurav Datta, Huang Huang, William Chung-Ho Panitch, Jaimyn Drake, Joseph Ortiz, Mustafa Mukadam, Mike Lambeta, Roberto Calandra, Ken Goldberg

CoRL 2024 DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning Huang Huang, Balakumar Sundaralingam, Arsalan Mousavian, Adithyavairavan Murali, Ken Goldberg, Dieter Fox

CVPR 2024 GARField: Group Anything with Radiance Fields Chung Min Kim, Mingxuan Wu, Justin Kerr, Ken Goldberg, Matthew Tancik, Angjoo Kanazawa

NeurIPSW 2024 In-Context Imitation Learning via Next-Token Prediction Letian Fu, Huang Huang, Gaurav Datta, Lawrence Yunliang Chen, William Chung-Ho Panitch, Fangchen Liu, Hui Li, Ken Goldberg

NeurIPSW 2024 Rethinking Patch Dependence for Masked Autoencoders Letian Fu, Long Lian, Renhao Wang, Baifeng Shi, XuDong Wang, Adam Yala, Trevor Darrell, Alexei A Efros, Ken Goldberg

CoRL 2024 RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg

CoRL 2024 Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction Justin Kerr, Chung Min Kim, Mingxuan Wu, Brent Yi, Qianqian Wang, Ken Goldberg, Angjoo Kanazawa

CoRL 2023 HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation Vainavi Viswanath, Kaushik Shivakumar, Mallika Parulekar, Jainil Ajmera, Justin Kerr, Jeffrey Ichnowski, Richard Cheng, Thomas Kollar, Ken Goldberg

CoRL 2023 IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors Gaurav Datta, Ryan Hoque, Anrui Gu, Eugen Solowjow, Ken Goldberg

ICCV 2023 LERF: Language Embedded Radiance Fields Justin Kerr, Chung Min Kim, Ken Goldberg, Angjoo Kanazawa, Matthew Tancik

CoRL 2023 Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping Adam Rashid, Satvik Sharma, Chung Min Kim, Justin Kerr, Lawrence Yunliang Chen, Angjoo Kanazawa, Ken Goldberg

CoRL 2023 Robot Learning with Sensorimotor Pre-Training Ilija Radosavovic, Baifeng Shi, Letian Fu, Ken Goldberg, Trevor Darrell, Jitendra Malik

CoRL 2023 Semantic Mechanical Search with Large Vision and Language Models Satvik Sharma, Huang Huang, Kaushik Shivakumar, Lawrence Yunliang Chen, Ryan Hoque, Brian Ichter, Ken Goldberg

NeurIPS 2023 Video Prediction Models as Rewards for Reinforcement Learning Alejandro Escontrela, Ademi Adeniji, Wilson Yan, Ajay N. Jain, Xue Bin Peng, Ken Goldberg, Youngwoon Lee, Danijar Hafner, Pieter Abbeel

CoRL 2022 DayDreamer: World Models for Physical Robot Learning Philipp Wu, Alejandro Escontrela, Danijar Hafner, Pieter Abbeel, Ken Goldberg

CoRL 2022 Evo-NeRF: Evolving NeRF for Sequential Robot Grasping of Transparent Objects Justin Kerr, Letian Fu, Huang Huang, Yahav Avigal, Matthew Tancik, Jeffrey Ichnowski, Angjoo Kanazawa, Ken Goldberg

CoRL 2022 Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg

NeurIPS 2022 Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations Albert Wilcox, Ashwin Balakrishna, Jules Dedieu, Wyame Benslimane, Daniel Brown, Ken Goldberg

NeurIPS 2021 Accelerating Quadratic Optimization with Reinforcement Learning Jeffrey Ichnowski, Paras Jain, Bartolomeo Stellato, Goran Banjac, Michael Luo, Francesco Borrelli, Joseph E Gonzalez, Ion Stoica, Ken Goldberg

CoRL 2021 Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects Jeffrey Ichnowski, Yahav Avigal, Justin Kerr, Ken Goldberg

CoRL 2021 LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks Albert Wilcox, Ashwin Balakrishna, Brijen Thananjeyan, Joseph E. Gonzalez, Ken Goldberg

ICML 2021 Policy Gradient Bayesian Robust Optimization for Imitation Learning Zaynah Javed, Daniel S Brown, Satvik Sharma, Jerry Zhu, Ashwin Balakrishna, Marek Petrik, Anca Dragan, Ken Goldberg

ICML 2021 Resource Allocation in Multi-Armed Bandit Exploration: Overcoming Sublinear Scaling with Adaptive Parallelism Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael Jordan, Ken Goldberg, Joseph Gonzalez

CoRL 2021 ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning Ryan Hoque, Ashwin Balakrishna, Ellen Novoseller, Albert Wilcox, Daniel S. Brown, Ken Goldberg

CoRL 2020 Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects Michael Danielczuk, Ashwin Balakrishna, Daniel Brown, Ken Goldberg

AISTATS 2020 Online Learning with Continuous Variations: Dynamic Regret and Reductions Ching-An Cheng, Jonathan Lee, Ken Goldberg, Byron Boots

CoRL 2020 Untangling Dense Knots by Learning Task-Relevant Keypoints Jennifer Grannen, Priya Sundaresan, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Vainavi Viswanath, Michael Laskey, Joseph Gonzalez, Ken Goldberg

CoRL 2019 On-Policy Robot Imitation Learning from a Converging Supervisor Ashwin Balakrishna, Brijen Thananjeyan, Jonathan Lee, Felix Li, Arsh Zahed, Joseph E. Gonzalez, Ken Goldberg

ICLR 2018 Parametrized Hierarchical Procedures for Neural Programming Roy Fox, Richard Shin, Sanjay Krishnan, Ken Goldberg, Dawn Song, Ion Stoica

ICML 2018 RLlib: Abstractions for Distributed Reinforcement Learning Eric Liang, Richard Liaw, Robert Nishihara, Philipp Moritz, Roy Fox, Ken Goldberg, Joseph Gonzalez, Michael Jordan, Ion Stoica

CoRL 2017 DART: Noise Injection for Robust Imitation Learning Michael Laskey, Jonathan Lee, Roy Fox, Anca D. Dragan, Ken Goldberg

CoRL 2017 DDCO: Discovery of Deep Continuous Options for Robot Learning from Demonstrations Sanjay Krishnan, Roy Fox, Ion Stoica, Ken Goldberg

CoRL 2017 Learning Deep Policies for Robot Bin Picking by Simulating Robust Grasping Sequences Jeffrey Mahler, Ken Goldberg