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

Learning Dexterous Manipulation for a Soft Robotic Hand from Human Demonstration,
Abhishek Gupta, Clemens Eppner, Sergey Levine, Pieter Abbeel.
arXiv 1603.06348 (video)

Publications

bibtex

[107] Leveraging Appearance Priors in Non-Rigid Registration, with Applications to Manipulation of Deformable Objects,
Sandy Huang, Jia Pan, George Mulcaire, Pieter Abbeel.
In the proceedings of the 28th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015. (pdf)

[106] Learning from Multiple Demonstrations using Trajectory-Aware Non-Rigid Registration with Applications to Deformable Object Manipulation,
Alex Lee, Abhishek Gupta, Henry Lu, Sergey Levine, Pieter Abbeel,
In the proceedings of the 28th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 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)

[93] Beyond Lowest-Warping Cost Action Selection in Trajectory Transfer,
Dylan Hadfield-Menell, Alex Lee, Chelsea Finn, Eric Tzeng, Sandy Huang, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015. (pdf)

[92] Learning Force-Based Manipulation of Deformable Objects from Multiple Demonstrations,
Alex Lee, Henry Lu, Abhishek Gupta, Sergey Levine, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015. (pdf)

[87] A Non-Rigid Point and Normal Registration Algorithm with Applications to Learning from Demonstrations,
Alex Lee, Max Goldstein, Shane Barratt, Pieter Abbeel.
In the proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 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)

[77] Unifying Scene Registration and Trajectory Optimization for Learning from Demonstrations with Application to Manipulation of Deformable Objects,
Alex X. Lee, Sandy H. Huang, Dylan Hadfield-Menell, Eric Tzeng, Pieter Abbeel.
In the proceedings of the 27th IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Chicago, USA, September 2014. (pdf)

[64] Learning from Demonstrations through the Use of Non-Rigid Registration,
John Schulman, Jonathan Ho, Cameron Lee, Pieter Abbeel.
In the proceedings of the 16th International Symposium on Robotics Research (ISRR), Dec 2013. (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)

[55] Tracking Deformable Objects with Point Clouds, Best Vision Paper Award,
John D. Schulman, Alex Lee, Jonathan Ho and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2013. (pdf, videos)

[52] A Constraint-Aware Motion Planning Algorithm for Robotic Folding of Clothes,
Karthik Lakshmanan, Apoorva Sachdev, Ziang Xie, Dmitry Berenson, Ken Goldberg, Pieter Abbeel.
In the proceedings of the 13th International Symposium on Experimental Robotics (ISER), 2012. (pdf, videos)

[45] A Geometric Approach to Robotic Laundry Folding,
Stephen Miller, Jur van den Berg, Mario Fritz, Trevor Darrell, Ken Goldberg, Pieter Abbeel
In the International Journal of Robotics Research (IJRR), first published on December 20, 2011 as doi:10.1177/0278364911430417 (pdf)

[43] Perception for the Manipulation of Socks,
Ping Chuan Wang, Stephen Miller, Mario Fritz, Trevor Darrell, Pieter Abbeel.
In the proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011. (pdf, talk video, video)

[38] Modeling and Perception of Deformable One-Dimensional Objects,
Shervin Javdani, Sameep Tandon, Jie Tang, James O'Brien, Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2011. (pdf, talk video)

[37] Parametrized Shape Models for Clothing,
Stephen Miller, Mario Fritz, Trevor Darrell, Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2011. (pdf, talk video)

[36] Bringing Clothing into Desired Configurations with Limited Perception,
Marco Cusumano-Towner, Arjun Singh, Stephen Miller, James O'Brien, Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2011. (pdf, talk video)

[34] Gravity-Based Robotic Cloth Folding,
Jur van den Berg, Stephen Miller, Ken Goldberg, Pieter Abbeel.
In The 9th International Workshop on the Algorithmic Foundations of Robotics (WAFR), 2010. (pdf, videos)

[30] Cloth Grasp Point Detection based on Multiple-View Geometric Cues with Application to Robotic Towel Folding,
Jeremy Maitin-Shepard, Marco Cusumano-Towner, Jinna Lei and Pieter Abbeel.
In the proceedings of the International Conference on Robotics and Automation (ICRA), 2010. (pdf, videos)

[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)