Publications

You can also find my publications on my Google Scholar profile.


Journal Papers


Learning Ambidextrous Robot Grasping Policies

Jeffrey Mahler, Matthew Matl, Vishal Satish, Michael Danielczuk, Bill DeRose, Stephen McKinley, Ken Goldberg

Science Robotics, 2019.

[PDF] [Supplement] [Website] [Bibtex]



Conference Papers


A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration

Tae Myung Huh, Kate Sanders, Michael Danielczuk, Monica Li, Ken Goldberg, Hannah S. Stuart

To appear in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

[PDF] [Video] [Bibtex]


Mechanical Search on Shelves using Lateral Access X-RAY

Huang Huang*, Marcus Dominguez-Kuhne*, Jeffrey Ichnowski, Vishal Satish, Michael Danielczuk , Kate Sanders, Andrew Lee, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg

To appear in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2021.

[PDF] [Video] [Website] [Bibtex]


Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities

Shivin Devgon, Jeffrey Ichnowski, Michael Danielczuk, Daniel S. Brown, Ashwin Balakrishna, Shirin Joshi, Eduardo M. C. Rocha, Eugen Solowjow, Ken Goldberg

IEEE Conference on Automation Science and Engineering (CASE), 2021.

[PDF] [Video] [Presentation] [Code] [Bibtex]


FogROS: An Adaptive Framework for Automating Fog Robotics Deployment

Kaiyuan (Eric) Chen, Yafei Liang, Nikhil Jha, Jeffrey Ichnowski, Michael Danielczuk, Joseph Gonzalez, John Kubiatowicz, Ken Goldberg

IEEE Conference on Automation Science and Engineering (CASE), 2021.

[PDF] [Presentation] [Code] [Bibtex]


AVPLUG: Approach Vector PLanning for Unicontact Grasping amid Clutter

Yahav Avigal, Vishal Satish, Zachary Tam, Huang Huang, Harry Zhang, Michael Danielczuk, Jeffrey Ichnowski, Ken Goldberg

IEEE Conference on Automation Science and Engineering (CASE), 2021.

[PDF] [Video] [Bibtex]


Object Rearrangement Using Learned Implicit Collision Functions

Michael Danielczuk*, Arsalan Mousavian*, Clemens Eppner, Dieter Fox

IEEE International Conference on Robotics and Automation (ICRA), 2021.

[PDF] [Video] [Presentation] [Website] [Code] [Bibtex]


Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects

Michael Danielczuk*, Ashwin Balakrishna*, Daniel S. Brown, Shivin Devgon, Ken Goldberg

Conference on Robot Learning (CoRL), 2020.

[PDF] [Presentation] [Website] [Code] [Bibtex]


X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions

Michael Danielczuk, Anelia Angelova, Vincent Vanhoucke, Ken Goldberg

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2020.

[PDF] [Video] [Presentation] [Website] [Bibtex]


Accelerating Grasp Exploration by Leveraging Learned Priors

Han Yu Li*, Michael Danielczuk*, Ashwin Balakrishna*, Vishal Satish, Ken Goldberg

IEEE Conference on Automation Science and Engineering (CASE), 2020.

[PDF] [Bibtex]


Robust Task-Based Grasping as a Service

Jingyi Song, Ajay Tanwani, Jeffrey Ichnowski, Michael Danielczuk, Kate Sanders, Jackson Chui, Juan A. Ojea, Ken Goldberg

IEEE Conference on Automation Science and Engineering (CASE), 2020.

[PDF] [Bibtex]


One-Shot Shape-Based Amodal-to-Modal Instance Segmentation

Andrew Li, Michael Danielczuk, Ken Goldberg

IEEE Conference on Automation Science and Engineering (CASE), 2020.

[PDF] [Bibtex]


Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking

Kate Sanders, Michael Danielczuk, Jeffrey Mahler, Ajay Tanwani, Ken Goldberg

IEEE Conference on Automation Science and Engineering (CASE), 2020.

[PDF] [Bibtex]


Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects

Jingyi Xu, Michael Danielczuk, Jeff Ichnowski, Jeffrey Mahler, Eckehard Steinbach, Ken Goldberg

IEEE International Conference on Robotics and Automation (ICRA), 2020.

[PDF] [Video] [Website] [Code] [Bibtex]


GOMP: Grasp-Optimized Motion Planning for Bin Picking

Jeff Ichnowski, Michael Danielczuk, Jingyi Xu, Vishal Satish, Ken Goldberg

IEEE International Conference on Robotics and Automation (ICRA), 2020.

[PDF] [Presentation] [Website] [Bibtex]


Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones

Jingyi Xu, Michael Danielczuk, Eckehard Steinbach, Ken Goldberg

IEEE International Conference on Robotics and Automation (ICRA), 2020.

[PDF] [Presentation] [Website] [Bibtex]


REACH: Reducing False Negatives in Robot Grasp Planning with a Robust Efficient Area Contact Hypothesis Model

Michael Danielczuk, Jingyi Xu, Jeffrey Mahler, Matthew Matl, Nuttapong Chentanez, Ken Goldberg

International Symposium on Robotics Research (ISRR), 2019.

[PDF] [Website] [Bibtex]


Robust Toppling for Vacuum Suction Grasping

Christopher Correa, Jeffrey Mahler, Michael Danielczuk, Ken Goldberg

IEEE International Conference on Automation Science and Engineering (CASE), 2019.

[PDF] [Bibtex]


Automating Planar Object Singulation by Linear Pushing with Single-point and Multi-point Contacts

Zisu Dong, Sanjay Krishnan, Sona Dolasia, Ashwin Balakrishna, Michael Danielczuk, Ken Goldberg

IEEE International Conference on Automation Science and Engineering (CASE), 2019.

[PDF] [Bibtex]


Adversarial Grasp Objects

David Wang, David Tseng, Pusong Li, Yiding Jiang, Menglong Guo, Michael Danielczuk, Jeffrey Mahler, Jeffrey Ichnowski, Ken Goldberg

IEEE International Conference on Automation Science and Engineering (CASE), 2019.

[PDF] [Bibtex]


Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data

Michael Danielczuk, Matthew Matl, Saurabh Gupta, Andrew Li, Andrew Lee, Jeffrey Mahler, Ken Goldberg

IEEE International Conference on Robotics and Automation (ICRA), 2019.

[PDF] [Website] [Code] [Bibtex]


Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter

Michael Danielczuk*, Andrey Kurenkov*, Ashwin Balakrishna, Matthew Matl, David Wang, Roberto Martín-Martín, Animesh Garg, Silvio Savarese,Ken Goldberg

IEEE International Conference on Robotics and Automation (ICRA), 2019.

[PDF] [Video] [Website] [Bibtex]


Linear Push Policies to Increase Grasp Access for Robot Bin Picking

Michael Danielczuk, Jeffrey Mahler, Chris Correa, Ken Goldberg

IEEE International Conference on Automation Science and Engineering (CASE), 2018.

[PDF] [Bibtex]