Scaling up Gaussian Belief Space Planning through Covariance-Free Trajectory Optimization and Automatic Differentiation Sachin Patil, Gregory Kahn, Michael Laskey, John Schulman, Ken Goldberg, Pieter Abbeel University of

Source URL: goldberg.berkeley.edu

• Mathematical optimization
• Systems theory
• Engineering
• Systems science
• Control theory
• Robot control
• Operations research
• Optimal control
• Trajectory optimization
• Kalman filter
• Model predictive control
• Quadratic programming

3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics Vincent Duindam1 , Jijie Xu2 , Ron Alterovitz1,3 , Shankar Sastry1 , and Ken Goldberg1,2 1

Source URL: goldberg.berkeley.edu

• Robot kinematics
• Mathematics
• Physics
• Inverse kinematics
• Motion planning
• Dubins path
• A* search algorithm
• Kinematics
• Shortest path problem
• Equation solving

KEN GOLDBERG Ken Goldberg is an artist and professor of engineering and robotics at UC Berkeley. Ken’s art installations have been exhibited internationally at venues including the Whitney Biennial, Pompidou Center

Source URL: goldberg.berkeley.edu

• Ken Goldberg
• Randall Packer
• Catharine Clark Gallery
• Guggenheim Fellows
• New media artists
• Ken Feingold
• Sherrie Levine

Guiding Medical Needles Using Single-Point Tissue Manipulation Meysam Torabi1 , Kris Hauser2 , Ron Alterovitz3 , Vincent Duindam2 , and Ken Goldberg4 Abstract— This paper addresses the use of robotic tissue manipulatio

Source URL: goldberg.berkeley.edu

• Medical physics
• Radiation therapy
• Biopsy
• Breast surgery
• Motion planning
• Theoretical computer science
• Brachytherapy
• Prostate cancer
• Prostate
• Fine-needle aspiration

TSC-DL: Unsupervised Trajectory Segmentation of Multi-Modal Surgical Demonstrations with Deep Learning Adithyavairavan Murali*, Animesh Garg*, Sanjay Krishnan*, Florian T. Pokorny, Pieter Abbeel, Trevor Darrell, Ken Gold

Source URL: goldberg.berkeley.edu

• Computational neuroscience
• Cluster analysis
• Image segmentation
• Multivariate statistics
• Deep learning
• Mixture model
• Convolutional neural network
• K-means clustering
• Hierarchical clustering
• Artificial neural network
• Principal component analysis

Planning ”Fireworks” Trajectories for Steerable Medical Needles to Reduce Patient Trauma Jijie Xu1 , Vincent Duindam2 , Ron Alterovitz3 , Jean Pouliot4 , J. Adam M. Cunha4 , I-Chow Joe Hsu4 and Ken Goldberg2 Abstract

Source URL: goldberg.berkeley.edu

• Search algorithms
• Robot navigation
• Motion planning
• Theoretical computer science
• Rapidly-exploring random tree
• Needle
• Linear programming
• Nearest neighbor search

ActiveClean: Interactive Data Cleaning While Learning Convex Loss Models Sanjay Krishnan, Jiannan Wang, Eugene Wu † , Michael J. Franklin, Ken Goldberg UC Berkeley, † Columbia University {sanjaykrishnan, jnwang, fran

Source URL: sampleclean.org

• Statistics
• Statistical theory
• Estimator
• Statistical inference
• M-estimators
• Convex optimization
• Stochastic gradient descent
• Bias of an estimator
• Loss function
• Data analysis
• Linear regression
• Generalised Hough transform

Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping Benjamin Charrow, Gregory Kahn, Sachin Patil, Sikang Liu, Ken Goldberg, Pieter Abbeel, Nathan Michael, Vijay Kumar Abstract—We propose an

Source URL: www.ieor.berkeley.edu

Profiles in IE Intersecting art and technology By Monica Elliott says he was instantly impressed when he met Goldberg. “Ken brings an artistic spirit and rare breadth of

Source URL: ieor.berkeley.edu

KEN GOLDBERG Ken Goldberg is an artist and professor of engineering and robotics at UC Berkeley. Ken’s art installations have been exhibited internationally at venues including the Whitney Biennial, Pompidou Center

Source URL: queue.ieor.berkeley.edu