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Research

I am a Master's student working at the UC Berkeley AUTOLAB (Prof. Ken Goldberg). My research focuses on leveraging computer vision and ML for task-oriented robotic perception. My current work is on learning representations for deformable objects so robots can better understand how to track and manipulate nonrigid objects in household and surgical settings.

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Publications



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

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	@article{grannen2020untangling,
	  title={Untangling Dense Knots by Learning Task-Relevant Keypoints},
	  author={Grannen, Jennifer and Sundaresan, Priya and Thananjeyan, Brijen and Ichnowski, Jeffrey and Balakrishna, Ashwin and Hwang, Minho and Viswanath, Vainavi and Laskey, Michael and Gonzalez, Joseph E and Goldberg, Ken},
	  journal={arXiv preprint arXiv:2011.04999},
	  year={2020}
	}
	   



MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects

Aditya Ganapathi*, Priya Sundaresan*, Brijen Thananjeyan, Ashwin Balakrishna, Daniel Seita, Ryan Hoque, Joseph E. Gonzalez, Ken Goldberg. IROS 2020 “Workshop on Managing Deformation: A Step Towards Higher Robot Autonomy.”

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	@article{ganapathi2020mmgsd,
	  title={MMGSD: Multi-Modal Gaussian Shape Descriptors for Correspondence Matching in 1D and 2D Deformable Objects},
	  author={Ganapathi, Aditya and Sundaresan, Priya and Thananjeyan, Brijen and Balakrishna, Ashwin and Seita, Daniel and Hoque, Ryan and Gonzalez, Joseph E and Goldberg, Ken},
	  journal={arXiv preprint arXiv:2010.04339},
	  year={2020}
	}
	   



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. In submission.

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	@inproceedings{fabric-descriptors,
	    title={Learning to Smooth and Fold Real Fabric Using Dense Object Descriptors Trained on Synthetic Color Images},
	    author={Ganapathi, Aditya and Sundaresan, Priya and Thananjeyan, Brijen and Balakrishna, Ashwin and Seita, Daniel and Grannen, Jennifer and Hwang, Minho and Hoque, Ryan and Gonzalez, Joseph E. and Jamali, Nawid and Yamane, Katsu and Iba, Soshi and Goldberg, Ken},
	    booktitle={arXiv:1910.04854},
	    year={2020},
	    organization={}
	}
	   

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.

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	@article{sundaresan2020learning,
	  title={Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data},
	    author={Sundaresan, Priya and Grannen, Jennifer and Thananjeyan, Brijen and Balakrishna, Ashwin and Laskey, Michael and Stone, Kevin and Gonzalez, Joseph E and Goldberg, Ken},
	      journal={arXiv preprint arXiv:2003.01835},
	        year={2020}
	}
	   




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), Vancouver, BC, Canada, August 2019.

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	@inproceedings{sundaresan2019automated,
	  title={Automated Extraction of Surgical Needles from Tissue Phantoms},
	    author={Sundaresan, Priya and Thananjeyan, Brijen and Chiu, Johnathan and Fer, Danyal and Goldberg, Ken},
	      booktitle={2019 IEEE 15th International Conference on Automation Science and Engineering (CASE)},
	        pages={170--177},
		  year={2019},
		    organization={IEEE}
		    }