For an online listing please see: Google Scholar | Semantic Scholar.


Theses

phdthesis
Optimization and Design for Automation of Brachytherapy Delivery and Learning Robot-Assisted Surgical Subtasks
PhD Thesis, IEOR Department, University of California, Berkeley, 2016.
mscs
Autonomous Palpation for Tumor Localization: Design of a Palpation Probe and Gaussian Process Adaptive Sampling
MS Thesis, EECS Department, University of California, Berkeley, 2016.

Preprints

Deformnet
DeformNet: Free-Form Deformation Network for 3D Shape Reconstruction from a Single Image
Andrey Kuryenkov*, Jingwei Ji*, Animesh Garg, Viraj Mehta, JunYoung Gwak, Chris Choy, Silvio Savarese (* equal contribution).
[ArXiv 1708.04672] [Project Webpage]
RAMIL
Anonymous
De-An Huang, Shyamal Buch, Lucio Dery, Animesh Garg, Li Fei-Fei, Juan Carlos Niebles. [ArXiv coming soon!]
NTP
Neural Task Programming: Learning to Generalize Across Hierarchical Tasks
Danfei Xu*, Suraj Nair*, Yuke Zhu, Julian Gao, Animesh Garg, Li Fei-Fei, Silvio Savarese (* equal contribution).
Under Review at ICRA 2018 [ArXiv 1710.01813]
swirl-ijrr
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.
International Journal of Robotics Research (IJRR), under review.
metaRL
Composing Meta-Policies for Autonomous Driving Using Hierarchical Deep Reinforcement Learning.
Richard Liaw, Sanjay Krishnan, Animesh Garg, Dan Crankshaw, Joseph E. Gonzalez , Ken Goldberg. preprint.

Publications

Adapt
AdaPT: Zero-Shot Adaptive Policy Transfer for Stochastic Dynamical Systems
James Harrison*, Animesh Garg*, Boris Ivanovic, Yuke Zhu, Silvio Savarese, Li Fei-Fei, Marco Pavone (* equal contribution).
Int’l Symposium on Robotics Research (ISRR) 2017 [arXiv 1707.04674]
WSGAN
Weakly Supervised Generative Adversarial Networks for 3D Reconstruction
JunYoung Gwak*, Christopher B. Choy*, Animesh Garg, Manmohan Chandraker, Silvio Savarese. (* equal contribution).
Int’l Conf. on 3D Vision (3DV), 2017. [arXiv 1705.10904]
ARPL
Adversarially Robust Policy Learning through Active Construction of Physically-Plausible Perturbations
Ajay Mandlekar*, Yuke Zhu*, Animesh Garg*, Li Fei-Fei, Silvio Savarese (* equal contribution).
Int’l Conf. on Intelligent Robots and Systems (IROS), 2017. [Video] [Code]
A shorter version appeared at RLDM 2017
TSC-ijrr
Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning
Sanjay Krishnan*, Animesh Garg*, Sachin Patil, Colin Lea, Gregory Hager, Pieter Abbeel, Ken Goldberg (* equal contribution).
International Journal of Robotics Research (IJRR) accepted 2017. [Code]
Cutting
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 Int’l Conf. on Robotics and Automation (ICRA) 2017. [Video]
SWIRL
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.
Workshop on Algorithmic Foundations in Robotics (WAFR), 2016.
Earlier Version appeared as HIRL on arXiv. [Talk Video]
GPAS
Tumor Localization using Automated Palpation with Gaussian Process Adaptive Sampling
Animesh Garg, Siddarth Sen, Rishi Kapadia, Yiming Jen, Stephen McKinley, Lauren Miller, Ken Goldberg.
IEEE Int’l Conf. on Automation Science and Engineering (CASE), 2016.
PIDA
An Interchangeable Surgical Instrument System with Application to Supervised Automation of Multilateral Tumor Resection
Stephen McKinley, Animesh Garg, Siddarth Sen, David V. Gealy, Jonathan P. McKinley, Yiming Jen, Mengluo Guo, Doug Boyd, Ken Goldberg.
IEEE Int’l Conf. on Automation Science and Engineering (CASE), 2016.
AMTS
Autonomous Multiple-Throw Multilateral Surgical Suturing with a Mechanical Needle Guide and Optimization based Needle Planning
Siddarth Sen*, Animesh Garg*, David V. Gealy, Stephen McKinley, Yiming Jen, Ken Goldberg (* equal contribution).
IEEE Int’l Conf. on Robotics and Automation (ICRA), 2016.
TSC-DL
TSC-DL: Unsupervised Trajectory Segmentation of Multi-Modal Surgical Demonstrations with Deep Learning
Adithyavairavan Murali*, Animesh Garg*, Sanjay Krishnan*, Florian T. Pokorny, Pieter Abbeel, Trevor Darrell, Ken Goldberg (* equal contribution).
IEEE Int’l Conf. on Robotics and Automation (ICRA), 2016. [Code]
TSC
Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning
Sanjay Krishnan*, Animesh Garg*, Sachin Patil, Colin Lea, Greg Hager, Pieter Abbeel, Ken Goldberg (* equal contribution)
International Symposium on Robotics Research (ISRR), 2015 [Code]
PALP
A Single-use Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery
Stephen McKinley, Animesh Garg, Siddarth Sen, Rishi Kapadia, Adithyavairavan Murali, Kirk Nichols, Susan Lim, Sachin Patil, Pieter Abbeel, Allison M. Okamura, Ken Goldberg.
IEEE Int’l Conf. on Automation Science and Engineering (CASE), 2015.
lbo
Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms
Adithyavairavan Murali*, Siddarth Sen*, Ben Kehoe, Animesh Garg, Seth McFarland, Sachin Patil, W Douglas Boyd, Susan Lim, Pieter Abbeel, Ken Goldberg.(* denotes equal contribution)
IEEE Int’l Conf. on Robotics and Automation (ICRA), 2015.
🏆 Best Medical Robotics Paper Award Finalist [Video]
PC-ISO
Material Evaluation of PC-ISO for Customized, 3D Printed, Gynecologic 192Ir HDR Brachytherapy Applicators.
Katherine Mellis, Timmy Siauw, Atchar Sudhyadhom, Rajni Sethi, I-Chow Hsu, Jean Pouliot, Animesh Garg, Ken Goldberg, J. Adam Cunha.
Journal of Applied Clinical Medical Physics (JACMP) 2014.
Reach
Exact Reachability Analysis for Planning Skew-Line Needle Arrangements for Automated Brachytherapy
Animesh Garg, Timmy Siauw, Guang Yang, Sachin Patil, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Alper Atamturk, Ken Goldberg.
IEEE Int’l Conf. on Automation Science and Engineering (CASE), 2014.
3dp-Imp
Customized Needle Guides for Inserting Non-Parallel Needle Arrangements in Prostate HDR Brachytherapy: A Phantom Study
Timmy Siauw, J. Adam M. Cunha, Animesh Garg, Ken Goldberg, I. Hsu, and Jean Pouliot. Brachytherapy 13 (2014): S126-S126.
Rob-Imp
Open-Loop Robot-Guided Insertion of Optimized Skew-Line Needle Arrangements for High Dose Rate Brachytherapy.
Animesh Garg, Timmy Siauw, Dmitry Berenson, Adam Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg.
IEEE Transactions on Automation Science and Engineering, 2013.
3dp-gyn
An Algorithm for Computing Customized 3D Printed Implants with Curvature Constrained Channels for Enhancing Intracavitary Brachytherapy Radiation Delivery
Animesh Garg, Sachin Patil, Timmy Siauw, J. Adam M. Cunha, I-Chow Hsu, Pieter Abbeel, Jean Pouliot, and Ken Goldberg.
IEEE Int’l Conf. on Automation Science and Engineering (CASE), 2013.
robot-brachy
Initial Experiments toward Automated Robotic Implantation of Skew-Line Needle Arrangements for HDR Brachytherapy
Animesh Garg, Timmy Siauw, Dmitry Berenson, Adam Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, and Ken Goldberg.
IEEE Int’l Conf. on Automation Science and Engineering (CASE), 2012.
🏆 Best Application Paper Award. [Video] [Talk]
robot-brachy-mp
Robotic Brachytherapy Demonstration: Implant of HDR Brachytherapy Needle Configuration Computer-Optimized to Avoid Critical Structures Near the Bulb of the Penis
J. Adam M. Cunha, Timmy Siauw, Animesh Garg, Neil Zhang, Ken Goldberg, Dan Stoianovici, Mark Roach III, I-Chow Hsu, Jean Pouliot.
Medical Physics, vol. 39, p.3931, 2012. [Med Phys] [AAPM]
robot-brachy-jro
Robot-Guided delivery of Brachytherapy needles along Non-Parallel paths to avoid Penile Bulb puncture
J. Adam M. Cunha, Animesh Garg, Timmy Siauw, Neil Zhang, Yihe Zuo, Ken Goldberg, Dan Stoianovici, Mark Roach III, Jean Pouliot.
J. of Radiotherapy and Oncology, vol.103, p.S45-S46, May 2012.
autotrix-iccrc11
The Autotrix: Design and Implementation of an Autonomous Urban Driving System
Animesh Garg, Anju Toor, Sahil Thakkar, Shiwangi Goel, Sachin Maheshwari, Satish Chand.
IEEE Int’l Conf. of Cybernetics, Robotics & Controls, 2011. (AMR, 2012)
dtmf-iccrc11
Low-cost Teleoperation of Remotely Located Actuators Based on Dual Tone Multi-frequency Data Transfer
Sahil Thakkar, Animesh Garg, Adesh Midha, Prerna Gaur.
IEEE Int’l Conf. of Cybernetics, Robotics & Controls, 2011. (AMR, 2012)
autotrix2-icmv
Object Identification and Mapping using Monocular Vision in an Autonomous Urban Driving System
Animesh Garg, Anju Toor, Sahil Thakkar, Shiwangi Goel, Sachin Maheshwari, Satish Chand.
Int’l Conf. of Machine Vision, 2010.

Peer Reviewed Workshops


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