Brijen Thananjeyan

I am a PhD Student at UC Berkeley in the UC Berkeley AUTOLAB, a part of the Berkeley Artificial Intelligence Research (BAIR) Lab, and the Real-Time Intelligent Secure Explainable Systems (RISE) Lab, advised by Ken Goldberg and Joseph Gonzalez. I am interested in safe and efficient learning algorithms for robots.

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Research
Untangling Dense Nonplanar Knots by Learning Manipulation Features and Recovery Policies
Priya Sundaresan*, Jennifer Grannen*, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Robotics: Science and Systems (RSS), 2021.

Resource Allocation in Multi-armed Bandit Exploration: Overcoming Sublinear Scaling with Adaptive Parallelism
Brijen Thananjeyan, Kirthevasan Kandasamy, Ion Stoica, Michael I. Jordan, Ken Goldberg, Joseph E. Gonzalez
International Conference on Machine Learning (ICML), 2021. Long Presentation

Recovery RL: Safe Reinforcement Learning with Learned Recovery Zones
Brijen Thananjeyan*, Ashwin Balakrishna*, Suraj Nair, Michael Luo, Krishnan Srinivasan, Minho Hwang, Joseph E. Gonzalez, Julian Ibarz, Chelsea Finn, Ken Goldberg
IEEE Robotics and Automation Letters (RA-L) July 2021 and IEEE International Conference on Robotics and Automation (ICRA), 2021.
website / pdf
Learning Dense Visual Correspondences in Simulation to Smooth and Fold Real Fabrics
Aditya Ganapathi, Priya Sundaresan, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Jennifer Grannen, Minho Hwang, Ryan Hoque, Joseph E. Gonzalez, Nawid Jamali, Katsu Yamane, Soshi Iba, Ken Goldberg
IEEE International Conference on Robotics and Automation (ICRA), 2021.
website / pdf
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation
Samuel Paradis, Minho Hwang, Brijen Thananjeyan, Jeffrey Ichnowski, Daniel Seita, Danyal Fer, Thomas Low, Joseph E. Gonzalez, Ken Goldberg
IEEE International Conference on Robotics and Automation (ICRA), 2021.
website / pdf
Untangling Dense Knots by Learning Task-Relevant Keypoints
Jennifer Grannen*, Priya Sundaresan*, Brijen Thananjeyan, Jeffrey Ichnowski, Ashwin Balakrishna, Minho Hwang, Vainavi Viswanath, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Conference on Robot Learning (CoRL), 2020. Oral Presentation
website / pdf
Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks
Minho Hwang, Brijen Thananjeyan, Sam Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg
IEEE Robotics and Automation Letters (RA-L) July 2020.
website / pdf
Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor
Daniel Seita, Aditya Ganapathi, Ryan Hoque, Minho Hwang, Edward Cen, Ajay Kumar Tanwani, Ashwin Balakrishna, Brijen Thananjeyan, Jeffrey Ichnowski, Nawid Jamali, Katsu Yamane, Soshi Iba, John Canny, Ken Goldberg
IEEE International Conference on Intelligent Robots and Systems (IROS), 2020.
website / pdf
ABC-LMPC: Safe Sample-Based Learning MPC for Stochastic Nonlinear Dynamical Systems with Adjustable Boundary Conditions
Brijen Thananjeyan*, Ashwin Balakrishna*, Ugo Rosolia, Joseph E. Gonzalez, Aaron Ames, Ken Goldberg
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2020.
pdf
Safety Augmented Value Estimation from Demonstrations (SAVED): Safe Deep Model-Based RL for Sparse Cost Robotic Tasks
Brijen Thananjeyan*, Ashwin Balakrishna*, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg
IEEE Robotics and Automation Letters (RA-L) February 2020 and IEEE International Conference on Robotics and Automation (ICRA), 2020.
website / pdf
Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data
Priya Sundaresan, Jennifer Grannen, Brijen Thananjeyan, Ashwin Balakrishna, Michael Laskey, Kevin Stone, Joseph E. Gonzalez, Ken Goldberg
IEEE International Conference on Robotics and Automation (ICRA), 2020.
website / pdf
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot
Minho Hwang*, Daniel Seita*, Brijen Thananjeyan, Jeffrey Ichnowski, Samuel Paradis, Danyal Fer, Thomas Low, Ken Goldberg
International Symposium on Medical Robotics (ISMR), 2020.
website / pdf
On-Policy Robot Imitation Learning from a Converging Supervisor
Ashwin Balakrishna*, Brijen Thananjeyan*, Jonathan Lee, Arsh Zahed, Felix Li, Joseph E. Gonzalez, Ken Goldberg
Conference on Robot Learning (CoRL), 2019. Oral Presentation
pdf
Automated Extraction of Surgical Needles from Tissue Phantoms
Priya Sundaresan, Brijen Thananjeyan, Johnathan Chiu, Danyal Fer, Ken Goldberg
IEEE International Conference on Automation Science and Engineering (CASE), 2019.
pdf
On-Policy Imitation Learning from an Improving Supervisor
Ashwin Balakrishna*, Brijen Thananjeyan*, Jonathan Lee, Arsh Zahed, Felix Li, Joseph E. Gonzalez, Ken Goldberg
Real World Sequential Decision Making Workshop at the International Conference on Machine Learning (ICML), 2019.
pdf
Optimizing Robot-Assisted Surgery Suture Plans to Avoid Joint Limits and Singularities
Brijen Thananjeyan, Ajay Tanwani, Jessica Ji, Danyal Fer, Vatsal Patel, Sanjay Krishnan, Ken Goldberg
International Symposium on Medical Robotics (ISMR), 2019. Oral Presentation
pdf
Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models
Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, and Sylvain Calinon
Workshop on the Algorithmic Foundations of Robotics (WAFR), 2018.
pdf
SWIRL: A Sequential Windowed Inverse Reinforcement Learning Algorithm for Robot Tasks with Delayed Rewards
Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T Pokorny, Ken Goldberg
The International Journal of Robotics Research (IJRR). Volume 37. Issue 9. July, 2018.
pdf
Multilateral Surgical Pattern Cutting in 2D Orthotropic Gauze with Deep Reinforcement Learning Policies for Tensioning
Brijen Thananjeyan, Animesh Garg, Sanjay Krishnan, Carolyn Chen, Lauren Miller, Ken Goldberg
IEEE International Conference on Robotics and Automation (ICRA), 2017.
pdf
SWIRL: A Sequential Windowed Inverse Reinforcement Learning Algorithm for Robot Tasks With Delayed Rewards
Sanjay Krishnan, Animesh Garg, Richard Liaw, Brijen Thananjeyan, Lauren Miller, Florian T. Pokorny, and Ken Goldberg
Workshop on Algorithmic Foundations of Robotics (WAFR), 2016.
pdf
Teaching
Co-Instructor, CS189 Summer 2019

Co-Instructor, CS188 Summer 2019

Teaching Assistant, CS188 Spring 2018

Teaching Assistant, CS188 Fall 2017

Teaching Assistant, CS70 Spring 2017

Teaching Assistant, EE16A Fall 2016

Teaching Assistant, CS61BL Summer 2016

Reader, EE120 Spring 2016

Reader, CS70 Fall 2015

Website template from Jon Barron