FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2.

Michael Danielczuk Jeffrey Ichnowski Kaiyuan Chen 0001 Karthik Dharmarajan Simeon Adebola Michael Danielczuk Victor Mayoral Vilches Nikhil Jha Hugo Zhan Edith LLontop Derek Xu Camilo Buscaron John Kubiatowicz Ion Stoica Joseph Gonzalez 0001 Ken Goldberg FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2. 5493-5500 2023 ICRA https://doi.org/10.1109/ICRA48891.2023.10161307 conf/icra/2023 db/conf/icra/icra2023.html#IchnowskiCDADVJZLXBKSGG23 Michael Danielczuk Manipulation and Perception Policies for Robot Mechanical Search University of California, Berkeley, USA 2022 https://www.escholarship.org/uc/item/5wq081r5 Lawrence Yunliang Chen Huang Huang Michael Danielczuk Jeffrey Ichnowski Ken Goldberg Optimal Shelf Arrangement to Minimize Robot Retrieval Time. 993-1000 2022 CASE https://doi.org/10.1109/CASE49997.2022.9926722 conf/case/2022 db/conf/case/case2022.html#ChenHDIG22 Huang Huang Michael Danielczuk Chung Min Kim Letian Fu Zachary Tam Jeffrey Ichnowski Anelia Angelova Brian Ichter Ken Goldberg Mechanical Search on Shelves using a Novel "Bluction" Tool. 6158-6164 2022 ICRA https://doi.org/10.1109/ICRA46639.2022.9811622 conf/icra/2022 db/conf/icra/icra2022.html#HuangDKFTIAIG22 Chung Min Kim Michael Danielczuk Isabella Huang Ken Goldberg IPC-GraspSim: Reducing the Sim2Real Gap for Parallel-Jaw Grasping with the Incremental Potential Contact Model. 6180-6187 2022 ICRA https://doi.org/10.1109/ICRA46639.2022.9811777 conf/icra/2022 db/conf/icra/icra2022.html#KimDHG22 Letian Fu Michael Danielczuk Ashwin Balakrishna Daniel S. Brown Jeffrey Ichnowski Eugen Solowjow Ken Goldberg LEGS: Learning Efficient Grasp Sets for Exploratory Grasping. 8259-8265 2022 ICRA https://doi.org/10.1109/ICRA46639.2022.9812138 conf/icra/2022 db/conf/icra/icra2022.html#FuDBBISG22 Huang Huang Letian Fu Michael Danielczuk Chung Min Kim Zachary Tam Jeffrey Ichnowski Anelia Angelova Brian Ichter Ken Goldberg Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects. 205-221 2022 ISRR https://doi.org/10.1007/978-3-031-25555-7_14 conf/isrr/2022 db/conf/isrr/isrr2022.html#HuangFDKTIAIG22

Huang Huang Michael Danielczuk Chung Min Kim Letian Fu Zachary Tam Jeffrey Ichnowski Anelia Angelova Brian Ichter Ken Goldberg Mechanical Search on Shelves using a Novel "Bluction" Tool. 2022 abs/2201.08968 CoRR https://arxiv.org/abs/2201.08968 db/journals/corr/corr2201.html#abs-2201-08968

Jeffrey Ichnowski Kaiyuan Chen 0001 Karthik Dharmarajan Simeon Adebola Michael Danielczuk Victor Mayoral Vilches Hugo Zhan Derek Xu Ramtin Ghassemi John Kubiatowicz Ion Stoica Joseph Gonzalez 0001 Ken Goldberg FogROS 2: An Adaptive and Extensible Platform for Cloud and Fog Robotics Using ROS 2. 2022 abs/2205.09778 CoRR https://doi.org/10.48550/arXiv.2205.09778 db/journals/corr/corr2205.html#abs-2205-09778

Lawrence Yunliang Chen Huang Huang Michael Danielczuk Jeffrey Ichnowski Ken Goldberg Optimal Shelf Arrangement to Minimize Robot Retrieval Time. 2022 abs/2206.08607 CoRR https://doi.org/10.48550/arXiv.2206.08607 db/journals/corr/corr2206.html#abs-2206-08607

Huang Huang Letian Fu Michael Danielczuk Chung Min Kim Zachary Tam Jeffrey Ichnowski Anelia Angelova Brian Ichter Ken Goldberg Mechanical Search on Shelves with Efficient Stacking and Destacking of Objects. 2022 abs/2207.02347 CoRR https://doi.org/10.48550/arXiv.2207.02347 db/journals/corr/corr2207.html#abs-2207-02347

Shivin Devgon Jeffrey Ichnowski Michael Danielczuk Daniel S. Brown Ashwin Balakrishna Shirin Joshi Eduardo M. C. Rocha Eugen Solowjow Ken Goldberg Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities. 1124-1131 2021 CASE https://doi.org/10.1109/CASE49439.2021.9551395 conf/case/2021 db/conf/case/case2021.html#DevgonIDBBJRSG21 Yahav Avigal Vishal Satish Zachary Tam Huang Huang Harry Zhang Michael Danielczuk Jeffrey Ichnowski Ken Goldberg AVPLUG: Approach Vector PLanning for Unicontact Grasping amid Clutter. 1140-1147 2021 CASE https://doi.org/10.1109/CASE49439.2021.9551652 conf/case/2021 db/conf/case/case2021.html#AvigalSTHZDIG21 Kaiyuan Chen 0001 Yafei Liang Nikhil Jha Jeffrey Ichnowski Michael Danielczuk Joseph Gonzalez 0001 John Kubiatowicz Ken Goldberg FogROS: An Adaptive Framework for Automating Fog Robotics Deployment. 2035-2042 2021 CASE https://doi.org/10.1109/CASE49439.2021.9551628 conf/case/2021 db/conf/case/case2021.html#ChenLJIDGKG21 Michael Danielczuk Arsalan Mousavian Clemens Eppner Dieter Fox Object Rearrangement Using Learned Implicit Collision Functions. 6010-6017 2021 ICRA https://doi.org/10.1109/ICRA48506.2021.9561516 conf/icra/2021 db/conf/icra/icra2021.html#DanielczukMEF21 Tae Myung Huh Kate Sanders 0002 Michael Danielczuk Monica S. Li Yunliang Chen 0001 Ken Goldberg Hannah S. Stuart A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration. 1786-1793 2021 IROS https://doi.org/10.1109/IROS51168.2021.9635852 conf/iros/2021 db/conf/iros/iros2021.html#HuhSDLCGS21 Huang Huang Marcus Dominguez-Kuhne Vishal Satish Michael Danielczuk Kate Sanders 0002 Jeffrey Ichnowski Andrew Lee 0002 Anelia Angelova Vincent Vanhoucke Ken Goldberg Mechanical Search on Shelves using Lateral Access X-RAY. 2045-2052 2021 IROS https://doi.org/10.1109/IROS51168.2021.9636629 conf/iros/2021 db/conf/iros/iros2021.html#HuangDSDSILAVG21

Tae Myung Huh Kate Sanders 0002 Michael Danielczuk Monica S. Li Ken Goldberg Hannah S. Stuart A Multi-Chamber Smart Suction Cup for Adaptive Gripping and Haptic Exploration. 2021 abs/2105.02345 CoRR https://arxiv.org/abs/2105.02345 db/journals/corr/corr2105.html#abs-2105-02345

Shivin Devgon Jeffrey Ichnowski Michael Danielczuk Daniel S. Brown Ashwin Balakrishna Shirin Joshi Eduardo M. C. Rocha Eugen Solowjow Ken Goldberg Kit-Net: Self-Supervised Learning to Kit Novel 3D Objects into Novel 3D Cavities. 2021 abs/2107.05789 CoRR https://arxiv.org/abs/2107.05789 db/journals/corr/corr2107.html#abs-2107-05789

Kaiyuan Chen 0001 Yafei Liang Nikhil Jha Jeffrey Ichnowski Michael Danielczuk Joseph Gonzalez 0001 John Kubiatowicz Ken Goldberg FogROS: An Adaptive Framework for Automating Fog Robotics Deployment. 2021 abs/2108.11355 CoRR https://arxiv.org/abs/2108.11355 db/journals/corr/corr2108.html#abs-2108-11355

Chung Min Kim Michael Danielczuk Isabella Huang Ken Goldberg Simulation of Parallel-Jaw Grasping using Incremental Potential Contact Models. 2021 abs/2111.01391 CoRR https://arxiv.org/abs/2111.01391 db/journals/corr/corr2111.html#abs-2111-01391

Letian Fu Michael Danielczuk Ashwin Balakrishna Daniel S. Brown Jeffrey Ichnowski Eugen Solowjow Ken Goldberg LEGS: Learning Efficient Grasp Sets for Exploratory Grasping. 2021 abs/2111.15002 CoRR https://arxiv.org/abs/2111.15002 db/journals/corr/corr2111.html#abs-2111-15002

Jingyi Song Ajay Kumar Tanwani Jeffrey Ichnowski Michael Danielczuk Kate Sanders 0002 Jackson Chui Juan Aparicio Ojea Ken Goldberg Robust Task-Based Grasping as a Service. 22-28 2020 CASE https://doi.org/10.1109/CASE48305.2020.9216952 conf/case/2020 db/conf/case/case2020.html#SongTIDSCOG20 Han Yu Li Michael Danielczuk Ashwin Balakrishna Vishal Satish Ken Goldberg Accelerating Grasp Exploration by Leveraging Learned Priors. 110-117 2020 CASE https://doi.org/10.1109/CASE48305.2020.9216740 conf/case/2020 db/conf/case/case2020.html#LiDBSG20 Kate Sanders 0002 Michael Danielczuk Jeffrey Mahler Ajay Kumar Tanwani Ken Goldberg Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking. 1141-1148 2020 CASE https://doi.org/10.1109/CASE48305.2020.9216844 conf/case/2020 db/conf/case/case2020.html#SandersDMTG20 Andrew Li Michael Danielczuk Ken Goldberg One-Shot Shape-Based Amodal-to-Modal Instance Segmentation. 1375-1382 2020 CASE https://doi.org/10.1109/CASE48305.2020.9216733 conf/case/2020 db/conf/case/case2020.html#LiDG20 Michael Danielczuk Ashwin Balakrishna Daniel S. Brown Ken Goldberg Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects. 377-393 2020 CoRL https://proceedings.mlr.press/v155/danielczuk21a.html conf/corl/2020 db/conf/corl/corl2020.html#DanielczukBBG20 Jingyi Xu Michael Danielczuk Jeffrey Ichnowski Jeffrey Mahler Eckehard G. Steinbach Ken Goldberg Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects. 1546-1552 2020 ICRA https://doi.org/10.1109/ICRA40945.2020.9197062 conf/icra/2020 db/conf/icra/icra2020.html#XuDIMSG20 Jeffrey Ichnowski Michael Danielczuk Jingyi Xu Vishal Satish Ken Goldberg GOMP: Grasp-Optimized Motion Planning for Bin Picking. 5270-5277 2020 ICRA https://doi.org/10.1109/ICRA40945.2020.9197548 conf/icra/2020 db/conf/icra/icra2020.html#IchnowskiDXSG20 Jingyi Xu Michael Danielczuk Eckehard G. Steinbach Ken Goldberg 6DFC: Efficiently Planning Soft Non-Planar Area Contact Grasps using 6D Friction Cones. 7891-7897 2020 ICRA https://doi.org/10.1109/ICRA40945.2020.9197293 conf/icra/2020 db/conf/icra/icra2020.html#XuDSG20 Michael Danielczuk Anelia Angelova Vincent Vanhoucke Ken Goldberg X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions. 9577-9584 2020 IROS https://doi.org/10.1109/IROS45743.2020.9340984 conf/iros/2020 db/conf/iros/iros2020.html#DanielczukAVG20

Jeffrey Ichnowski Michael Danielczuk Jingyi Xu Vishal Satish Ken Goldberg GOMP: Grasp-Optimized Motion Planning for Bin Picking. 2020 abs/2003.02401 CoRR https://arxiv.org/abs/2003.02401 db/journals/corr/corr2003.html#abs-2003-02401

Michael Danielczuk Anelia Angelova Vincent Vanhoucke Ken Goldberg X-Ray: Mechanical Search for an Occluded Object by Minimizing Support of Learned Occupancy Distributions. 2020 abs/2004.09039 CoRR https://arxiv.org/abs/2004.09039 db/journals/corr/corr2004.html#abs-2004-09039

Kate Sanders 0002 Michael Danielczuk Jeffrey Mahler Ajay Kumar Tanwani Ken Goldberg Non-Markov Policies to Reduce Sequential Failures in Robot Bin Picking. 2020 abs/2007.10420 CoRR https://arxiv.org/abs/2007.10420 db/journals/corr/corr2007.html#abs-2007-10420

Michael Danielczuk Ashwin Balakrishna Daniel S. Brown Shivin Devgon Ken Goldberg Exploratory Grasping: Asymptotically Optimal Algorithms for Grasping Challenging Polyhedral Objects. 2020 abs/2011.05632 CoRR https://arxiv.org/abs/2011.05632 db/journals/corr/corr2011.html#abs-2011-05632

Han Yu Li Michael Danielczuk Ashwin Balakrishna Vishal Satish Ken Goldberg Accelerating Grasp Exploration by Leveraging Learned Priors. 2020 abs/2011.05661 CoRR https://arxiv.org/abs/2011.05661 db/journals/corr/corr2011.html#abs-2011-05661

Michael Danielczuk Arsalan Mousavian Clemens Eppner Dieter Fox Object Rearrangement Using Learned Implicit Collision Functions. 2020 abs/2011.10726 CoRR https://arxiv.org/abs/2011.10726 db/journals/corr/corr2011.html#abs-2011-10726

Huang Huang Marcus Dominguez-Kuhne Jeffrey Ichnowski Vishal Satish Michael Danielczuk Kate Sanders 0002 Andrew Lee 0002 Anelia Angelova Vincent Vanhoucke Ken Goldberg Mechanical Search on Shelves using Lateral Access X-RAY. 2020 abs/2011.11696 CoRR https://arxiv.org/abs/2011.11696 db/journals/corr/corr2011.html#abs-2011-11696

Matthew Matl Vishal Satish Michael Danielczuk Bill DeRose Stephen McKinley Ken Goldberg Learning ambidextrous robot grasping policies. 2019 4 Sci. Robotics 26 https://doi.org/10.1126/scirobotics.aau4984 https://www.wikidata.org/entity/Q101157206 db/journals/scirobotics/scirobotics4.html#MatlSDDMG19

David Wang David Tseng Pusong Li Yiding Jiang Menglong Guo Michael Danielczuk Jeffrey Mahler Jeffrey Ichnowski Ken Goldberg Adversarial Grasp Objects. 241-248 2019 CASE https://doi.org/10.1109/COASE.2019.8843059 conf/case/2019 db/conf/case/case2019.html#WangTLJGDMIG19 Christopher Correa Jeffrey Mahler Michael Danielczuk Ken Goldberg Robust Toppling for Vacuum Suction Grasping. 1421-1428 2019 CASE https://doi.org/10.1109/COASE.2019.8843273 conf/case/2019 db/conf/case/case2019.html#CorreaMDG19 Zisu Dong Sanjay Krishnan Sona Dolasia Ashwin Balakrishna Michael Danielczuk Ken Goldberg Automating Planar Object Singulation by Linear Pushing with Single-point and Multi-point Contacts. 1429-1436 2019 CASE https://doi.org/10.1109/COASE.2019.8843111 conf/case/2019 db/conf/case/case2019.html#DongKDBDG19 Michael Danielczuk Andrey Kurenkov Ashwin Balakrishna Matthew Matl David Wang Roberto Martín-Martín Animesh Garg Silvio Savarese Ken Goldberg Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter. 1614-1621 2019 ICRA https://doi.org/10.1109/ICRA.2019.8794143 conf/icra/2019 db/conf/icra/icra2019.html#DanielczukKBMWM19 Michael Danielczuk Matthew Matl Saurabh Gupta 0001 Andrew Li Andrew Lee 0002 Jeffrey Mahler Ken Goldberg Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Data. 7283-7290 2019 ICRA https://doi.org/10.1109/ICRA.2019.8793744 conf/icra/2019 db/conf/icra/icra2019.html#DanielczukM0LLM19 Michael Danielczuk Jingyi Xu Jeffrey Mahler Matthew Matl Nuttapong Chentanez Ken Goldberg REACH: Reducing False Negatives in Robot Grasp Planning with a Robust Efficient Area Contact Hypothesis Model. 757-772 2019 ISRR https://doi.org/10.1007/978-3-030-95459-8_46 conf/isrr/2019 db/conf/isrr/isrr2019.html#DanielczukXMMCG19

Michael Danielczuk Andrey Kurenkov Ashwin Balakrishna Matthew Matl David Wang Roberto Martín-Martín Animesh Garg Silvio Savarese Ken Goldberg Mechanical Search: Multi-Step Retrieval of a Target Object Occluded by Clutter. 2019 abs/1903.01588 CoRR http://arxiv.org/abs/1903.01588 db/journals/corr/corr1903.html#abs-1903-01588

Jingyi Xu Michael Danielczuk Jeffrey Ichnowski Jeffrey Mahler Eckehard G. Steinbach Ken Goldberg Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects. 2019 abs/1909.11226 CoRR http://arxiv.org/abs/1909.11226 db/journals/corr/corr1909.html#abs-1909-11226

Michael Danielczuk Jeffrey Mahler Christopher Correa Ken Goldberg Linear Push Policies to Increase Grasp Access for Robot Bin Picking. 1249-1256 2018 CASE https://doi.org/10.1109/COASE.2018.8560406 conf/case/2018 db/conf/case/case2018.html#DanielczukMCG18

Michael Danielczuk Matthew Matl Saurabh Gupta 0001 Andrew Li Andrew Lee 0002 Jeffrey Mahler Ken Goldberg Segmenting Unknown 3D Objects from Real Depth Images using Mask R-CNN Trained on Synthetic Point Clouds. 2018 abs/1809.05825 CoRR http://arxiv.org/abs/1809.05825 db/journals/corr/corr1809.html#abs-1809-05825

Simeon Adebola Anelia Angelova Yahav Avigal Ashwin Balakrishna Daniel S. Brown Camilo Buscaron Kaiyuan Chen 0001 Yunliang Chen 0001Lawrence Yunliang Chen Nuttapong Chentanez Jackson Chui Christopher Correa Bill DeRose Shivin Devgon Karthik Dharmarajan Sona Dolasia Marcus Dominguez-Kuhne Zisu Dong Clemens Eppner Dieter Fox Letian Fu Animesh Garg Ramtin Ghassemi Kenneth Y. GoldbergKen Goldberg Joseph Gonzalez 0001 Menglong Guo Saurabh Gupta 0001 Huang Huang Isabella Huang Tae Myung Huh Jeffrey Ichnowski Brian Ichter Nikhil Jha Yiding Jiang Shirin Joshi Chung Min Kim Sanjay Krishnan John Kubiatowicz Andrey Kurenkov Andrew Lee 0002 Andrew Li Han Yu Li Monica S. Li Pusong Li Yafei Liang Edith LLontop Jeffrey Mahler Roberto Martin MartinRoberto Martín-Martín Matthew Matl Stephen McKinley Arsalan Mousavian Juan Aparicio Ojea Eduardo M. C. Rocha Kate Sanders 0002 Vishal Satish Silvio Savarese Eugen Solowjow Jingyi Song Eckehard G. Steinbach Ion Stoica Hannah StuartHannah S. Stuart Zachary Tam Ajay Kumar Tanwani David Tseng Vincent Vanhoucke Victor Mayoral Vilches David Wang Derek Xu Jingyi Xu Hugo Zhan Harry Zhang