Ken Goldberg

Eye, Robot: Learning to Look to Act with a BC-RL Perception-Action Loop CoRL 2025 OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction ICML 2025 Real2Render2Real: Scaling Robot Data Without Dynamics Simulation or Robot Hardware CoRL 2025 Sim-and-Real Co-Training: A Simple Recipe for Vision-Based Robotic Manipulation RSS 2025 A Touch, Vision, and Language Dataset for Multimodal Alignment ICML 2024 DiffusionSeeder: Seeding Motion Optimization with Diffusion for Rapid Motion Planning CoRL 2024 DROID: A Large-Scale In-The-Wild Robot Manipulation Dataset RSS 2024 GARField: Group Anything with Radiance Fields CVPR 2024 MIRAGE: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting RSS 2024 Robot See Robot Do: Imitating Articulated Object Manipulation with Monocular 4D Reconstruction CoRL 2024 RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning CoRL 2024 HANDLOOM: Learned Tracing of One-Dimensional Objects for Inspection and Manipulation CoRL 2023 IIFL: Implicit Interactive Fleet Learning from Heterogeneous Human Supervisors CoRL 2023 Language Embedded Radiance Fields for Zero-Shot Task-Oriented Grasping CoRL 2023 LERF: Language Embedded Radiance Fields ICCV 2023 Robot Learning with Sensorimotor Pre-training CoRL 2023 Self-Supervised Visuo-Tactile Pretraining to Locate and Follow Garment Features RSS 2023 Semantic Mechanical Search with Large Vision and Language Models CoRL 2023 Video Prediction Models as Rewards for Reinforcement Learning NeurIPS 2023 Autonomously Untangling Long Cables RSS 2022 DayDreamer: World Models for Physical Robot Learning CoRL 2022 Evo-NeRF: Evolving NeRF for Sequential Robot Grasping of Transparent Objects CoRL 2022 Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision CoRL 2022 Monte Carlo Augmented Actor-Critic for Sparse Reward Deep Reinforcement Learning from Suboptimal Demonstrations NeurIPS 2022 Accelerating Quadratic Optimization with Reinforcement Learning NeurIPS 2021 Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects CoRL 2021 LS3: Latent Space Safe Sets for Long-Horizon Visuomotor Control of Sparse Reward Iterative Tasks CoRL 2021 Policy Gradient Bayesian Robust Optimization for Imitation Learning ICML 2021 Resource Allocation in Multi-armed Bandit Exploration: Overcoming Sublinear Scaling with Adaptive Parallelism ICML 2021 ThriftyDAgger: Budget-Aware Novelty and Risk Gating for Interactive Imitation Learning CoRL 2021 Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies RSS 2021 Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects CoRL 2020 Online Learning with Continuous Variations: Dynamic Regret and Reductions AISTATS 2020 Untangling Dense Knots by Learning Task-Relevant Keypoints CoRL 2020 VisuoSpatial Foresight for Multi-Step, Multi-Task Fabric Manipulation RSS 2020 On-Policy Robot Imitation Learning from a Converging Supervisor CoRL 2019 Parametrized Hierarchical Procedures for Neural Programming ICLR 2018 RLlib: Abstractions for Distributed Reinforcement Learning ICML 2018 DART: Noise Injection for Robust Imitation Learning CoRL 2017 DDCO: Discovery of Deep Continuous Options for Robot Learning from Demonstrations CoRL 2017 Dex-Net 2.0: Deep Learning to Plan Robust Grasps with Synthetic Point Clouds and Analytic Grasp Metrics RSS 2017 Learning Deep Policies for Robot Bin Picking by Simulating Robust Grasping Sequences CoRL 2017 Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping RSS 2015