KG
Ken Goldberg
cs.ROcs.CVcs.AIcs.LGcs.DBModels, BiologicalRoboticsAlgorithmsBrachytherapycomputer-science
On Valency
published · living versionsW_qv7f22df·v1 · currentpublished
Revisiting the "Push-T" Robot Manipulation Task with Agentic Robotics
with Shuangyu Xie, Kaiyuan Chen
1 version
Preprints & journals
54 papers in the corpus · 2001–2026Revisiting the “Push-T” Robot Manipulation Task with Agentic RoboticsW_7tafcgyv_v1 · Shuangyu Xie, Kaiyuan Chen, Ken Goldberg2026 · 0 citations
WARP-RM: A Warp-Augmented Relative Progress Reward Model for Data Curation2606.28320v4 · Justin Yu, Andrew Goldberg, Kavish Kondap et al.2026 · 0 citationsarXiv
MACAW: Reliable And Efficient Surgical Debridement Using Monocular Adaptive Compact Attention Windows2609.01961v1 · Ziyang Chen, Shutong Jin, Preethi Satish et al.2026 · 0 citationsarXiv
Revisiting the "Push-T" Robot Manipulation Task with Agentic Robotics2608.18227v1 · Shuangyu Xie, Kaiyuan Chen, Ken Goldberg2026 · 0 citationsarXivon Valency
"Humanoids will soon replace most human workers": A debate.42160462 · Wang, Hesheng, Wang, Michael, Park, Frank et al.2026 · 2 citationsScience robotics. 2026;11(114):eaeh6422
RoboVista: Evaluating Vision Language Models for Diverse Robot Applications2607.04610v1 · Shuangyu Xie, Kaiyuan Chen, Ziyang Chen et al.2026 · 0 citationsarXiv
GaP: A Graph-as-Policy Multi-Agent Self-Learning Harness For Variational Automation Tasks2607.05369v1 · Kaiyuan Chen, Shuangyu Xie, Letian Fu et al.2026 · 0 citationsarXiv
CaP-X: A Framework for Benchmarking and Improving Coding Agents for Robot Manipulation2603.22435v2 · Letian Fu, Justin Yu, Karim El-Refai et al.2026 · 0 citationsarXiv
ManipulationNet: An Infrastructure for Benchmarking Real-World Robot Manipulation with Physical Skill Challenges and Embodied Multimodal Reasoning2603.04363v1 · Yiting Chen, Kenneth Kimble, Edward H. Adelson et al.2026 · 0 citationsarXiv
VisGym: Diverse, Customizable, Scalable Environments for Multimodal Agents2601.16973v1 · Zirui Wang, Junyi Zhang, Jiaxin Ge et al.2026 · 0 citationsarXiv
OTTER: A Vision-Language-Action Model with Text-Aware Visual Feature Extraction2503.03734v4 · Huang Huang, Fangchen Liu, Letian Fu et al.2025 · 0 citationsarXiv
Botany-Bot: Digital Twin Monitoring of Occluded and Underleaf Plant Structures with Gaussian Splats2510.17783v1 · Simeon Adebola, Chung Min Kim, Justin Kerr et al.2025 · 0 citationsarXiv
"Data will solve robotics and automation: True or false?": A debate.40864728 · Amato, Nancy M, Hutchinson, Seth, Garg, Animesh et al.2025 · 0 citationsScience robotics. 2025;10(105):eaea7897
Good old-fashioned engineering can close the 100,000-year "data gap" in robotics.40864731 · Goldberg, Ken2025 · 4 citationsScience robotics. 2025;10(105):eaea7390
Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging2508.00354v1 · Tianshuang Qiu, Zehan Ma, Karim El-Refai et al.2025 · 1 citationarXiv
A roadmap for AI in robotics2507.19975v1 · Aude Billard, Alin Albu-Schaeffer, Michael Beetz et al.2025 · 25 citationsNature Machine Intelligence (2025): 1-7
Motion Planning Under Uncertainty for Image-guided Medical Needle Steering.19890445 · Alterovitz, Ron, Branicky, Michael, Goldberg, Ken2025 · 191 citationsThe International journal of robotics research. 2008;27(11-12):1361-1374
Integrated Planning and Image-Guided Control for Planar Needle Steering.20640197 · Reed, Kyle B, Kallem, Vinutha, Alterovitz, Ron et al.2025 · 90 citationsProceedings of the ... IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics. 2008;2008:819-824
Feedback Control for Steering Needles Through 3D Deformable Tissue Using Helical Paths.21179401 · Hauser, Kris, Alterovitz, Ron, Chentanez, Nuttapong et al.2025 · 67 citationsRobotics science and systems : online proceedings. 2009;V:37
3D Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics.21359051 · Duindam, Vincent, Xu, Jijie, Alterovitz, Ron et al.2025 · 50 citationsThe International journal of robotics research. 2009;57:535-549
Screw-Based Motion Planning for Bevel-Tip Flexible Needles in 3D Environments with Obstacles.22146911 · Duindam, Vincent, Alterovitz, Ron, Sastry, Shankar et al.2025 · 115 citationsIEEE International Conference on Robotics and Automation : ICRA : [proceedings]. IEEE International Conference on Robotics and Automation. 2008:2483-2488
Planning Fireworks Trajectories for Steerable Medical Needles to Reduce Patient Trauma.25946259 · Xu, Jijie, Duindam, Vincent, Alterovitz, Ron et al.2025 · 30 citationsProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems. 2009:4517-4522
Surgical Retraction of Non-Uniform Deformable Layers of Tissue: 2D Robot Grasping and Path Planning.30631637 · Jansen, Rik, Hauser, Kris, Chentanez, Nuttapong et al.2025 · 30 citationsProceedings of the ... IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems. 2009;2009:4092-4097
SuFIA-BC: Generating High Quality Demonstration Data for Visuomotor Policy Learning in Surgical Subtasks2504.14857v1 · Masoud Moghani, Nigel Nelson, Mohamed Ghanem et al.2025 · 2 citationsarXiv
Rethinking Patch Dependence for Masked Autoencoders2401.14391v2 · Letian Fu, Long Lian, Renhao Wang et al.2024 · 3 citationsarXiv
Persistent Object Gaussian Splat (POGS) for Tracking Human and Robot Manipulation of Irregularly Shaped Objects2503.05189v1 · Justin Yu, Kush Hari, Karim El-Refai et al.2025 · 1 citationarXiv
The Teenager's Problem: Efficient Garment Decluttering as Probabilistic Set Cover2310.16951v3 · Aviv Adler, Ayah Ahmad, Yulei Qiu et al.2023 · 0 citationsarXiv
Augmented dexterity: How robots can enhance human surgical skills.39475696 · Goldberg, Ken, Guthart, Gary2024 · 8 citationsScience robotics. 2024;9(95):eadr5247
Language-Embedded Gaussian Splats (LEGS): Incrementally Building Room-Scale Representations with a Mobile Robot2409.18108v1 · Justin Yu, Kush Hari, Kishore Srinivas et al.2024 · 7 citationsarXiv
RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning2409.03403v2 · Lawrence Yunliang Chen, Chenfeng Xu, Karthik Dharmarajan et al.2024 · 1 citationarXiv
Manipulator as a Tail: Promoting Dynamic Stability for Legged Locomotion2305.01648v2 · Huang Huang, Antonio Loquercio, Ashish Kumar et al.2023 · 12 citationsarXiv
SuFIA: Language-Guided Augmented Dexterity for Robotic Surgical Assistants2405.05226v1 · Masoud Moghani, Lars Doorenbos, William Chung-Ho Panitch et al.2024 · 12 citationsarXiv
Lifelong LERF: Local 3D Semantic Inventory Monitoring Using FogROS22403.10494v1 · Adam Rashid, Chung Min Kim, Justin Kerr et al.2024 · 5 citationsarXiv
GARField: Group Anything with Radiance Fields2401.09419v1 · Chung Min Kim, Mingxuan Wu, Justin Kerr et al.2024 · 55 citationsarXiv
Conformal Policy Learning for Sensorimotor Control Under Distribution Shifts2311.01457v1 · Huang Huang, Satvik Sharma, Antonio Loquercio et al.2023 · 3 citationsarXiv
Robot-Assisted Needle Steering.23028210 · Reed, Kyle B, Majewicz, Ann, Kallem, Vinutha et al.2023 · 187 citationsIEEE robotics & automation magazine. 2011;18(4):35-46
What we look for at Science Robotics.36288269 · Nelson, Bradley J, Dupont, Pierre, Floreano, Dario et al.2022 · 3 citationsScience robotics. 2022;7(71):eade5834
GOMP-ST: Grasp Optimized Motion Planning for Suction Transport2203.08359v1 · Yahav Avigal, Jeffrey Ichnowski, Max Yiye Cao et al.2022 · 7 citationsarXiv
Mechanical Search on Shelves using a Novel "Bluction" Tool2201.08968v1 · Huang Huang, Michael Danielczuk, Chung Min Kim et al.2022 · 10 citationsarXiv
Learning to Optimize Join Queries With Deep Reinforcement Learning1808.03196v2 · Sanjay Krishnan, Zongheng Yang, Ken Goldberg et al.2018 · 85 citationsarXiv
IPIP: A New Approach to Inverse Planning for HDR Brachytherapy by Directly Optimizing Dosimetric Indices1012.0048v1 · Timmy Siauw, Adam Cunha, Alper Atamturk et al.2010 · 49 citationsarXiv
Toward a Science of Autonomy for Physical Systems: Paths1609.05814v1 · Pieter Abbeel, Ken Goldberg, Gregory Hager et al.2016 · 0 citationsarXiv
ActiveClean: Interactive Data Cleaning While Learning Convex Loss Models1601.03797v1 · Sanjay Krishnan, Jiannan Wang, Eugene Wu et al.2016 · 23 citationsarXivon Valency
Evaluation of PC-ISO for customized, 3D Printed, gynecologic 192-Ir HDR brachytherapy applicators.25679174 · Cunha, J Adam M, Mellis, Katherine, Sethi, Rajni et al.2015 · 81 citationsJournal of applied clinical medical physics. 2015;16(1):5168
Stale View Cleaning: Getting Fresh Answers from Stale Materialized Views1509.07454v1 · Sanjay Krishnan, Jiannan Wang, Michael J. Franklin et al.2015 · 21 citationsProceedings of the VLDB Endowment - Proceedings of the 41st International Conference on Very Large Data Bases, Kohala Coast, Hawaii Volume 8 Issue 12, August 2015 Pages 1370-1381
NPIP: A skew line needle configuration optimization system for HDR brachytherapy.22830767 · Siauw, Timmy, Cunha, Adam, Berenson, Dmitry et al.2012 · 31 citationsMedical physics. 2012;39(7):4339-46
IPIP: A new approach to inverse planning for HDR brachytherapy by directly optimizing dosimetric indices.21859003 · Siauw, Timmy, Cunha, Adam, Atamtürk, Alper et al.2011 · 49 citationsMedical physics. 2011;38(7):4045-51
Sensorless motion planning for medical needle insertion in deformable tissues.19126473 · Alterovitz, Ron, Goldberg, Kenneth Y, Pouliot, Jean et al.2009 · 76 citationsIEEE transactions on information technology in biomedicine : a publication of the IEEE Engineering in Medicine and Biology Society. 2009;13(2):217-25
Image registration for prostate MR spectroscopy using modeling and optimization of force and stiffness parameters.17272037 · Alterovitz, Ron, Goldberg, Ken, Kurhanewicz, John et al.2007 · 7 citationsConference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual Conference. 2004;2004:1722-5
Optimization of HDR brachytherapy dose distributions using linear programming with penalty costs.17153381 · Alterovitz, Ron, Lessard, Etienne, Pouliot, Jean et al.2007 · 66 citationsMedical physics. 2006;33(11):4012-9
Career total: 343 works. 54 are in this corpus.Showing the 50 most recent.
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