Brijen Thananjeyan

I am a PhD Student at UC Berkeley in 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
On-Policy Robot Imitation Learning from a Converging Supervisor
Ashwin Balakrishna*, Brijen Thananjeyan*, Jonathan Lee, Arsh Zahed, Felix Li, Joseph E. Gonzalez, Ken Goldberg
In submission
pdf
Extending Deep Model Predictive Control with Safety Augmented Value Estimation from Demonstrations
Brijen Thananjeyan*, Ashwin Balakrishna*, Ugo Rosolia, Felix Li, Rowan McAllister, Joseph E. Gonzalez, Sergey Levine, Francesco Borrelli, Ken Goldberg
In submission
website / 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.
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