About Me
Ajay Kumar Tanwani
Postdoctoral scholar,
University of California, Berkeley
Ph.D. in CS, EPFL | MS in Robotics, EMARO | Intern, Google X
Email: ajay.tanwani at berkeley.edu, aktanwani at gmail.com
Research Interests
I work with Ken Goldberg in AutoLab and BAIR on imitation and representation learning, robot grasping, and their large scale adoption with Fog and Cloud Robotics. My interests broadly revolve around developing machine learning technqiues for solving real-world problems. The main scientific subjects I investigate include:
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Recent News
Two papers on robot learning have been accepted at ISRR 2019.
We are organizing a workshop on Cloud and Fog Robotics (CAFR) in collaboration with Stanford University at RSS 2019.
I gave an invited talk on Generative Models for Robot Learning at UC Merced.
Two papers on imitation learning have been accepted at WAFR 2018.
Small Variance Asymptotics for Non-Parametric Online Robot Learning is accepted at Int. J. of Robotics Research (IJRR) 2019.
I joined the program/reviewer committee of AAAI 2019, RAL, ICRA 2019, IROS 2019, UAI 2019, ICML 2019, WAFR 2018, NIPS 2018-19, RSS 2018, AABI (NIPS) 2017.
Our NSF Proposal on Fog Robotics has been accepted, in collaboration with SwarmLab and RiseLab. [3 million USD for 3 years]
New York Times article on How Robot Hands are Evolving to Do What Ours Can by Mae Rayan, Cade Metz, and Rumsey Taylor. Our work on the gripper, the picker and the bed-maker is featured against the OpenAI dactyl and anthropomorphic UW hand.
We won the initial round of HSR Home Chores Challenge 2018 [video], and are runners-up in TRI University Challenge 2018 and Siemens FutureMaker Challenge 2018. [see relevance to SCHooL]
Dexterous Underwater Manipulation from Distant Onshore Locations is accepted for publication in IEEE Robotics and Automation Magazine.
We presented two papers on imitation learning in Imitation and Causality Workshop, RSS 2018.
Dex-Net as a Service (DNaaS) is now available online for computing and visualizing robust grasps.
I moved to UC Berkeley for postdoctoral research.
I defended my PhD thesis at EPFL. Thanks to all the jury members !
I finished my internship at Google X in Mountain View, California, 2017.
Publications
- Daniel Seita*, Nawid Jamali*, Michael Laskey*, Ajay Kumar Tanwani, Ron Berenstein, Prakash Baskaran, Soshi Iba, John Canny, Ken Goldberg. Deep Transfer Learning of Pick Points on Fabric for Robot Bed-Making, International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019
[pdf] [bibtex] [arxiv] [video]
- Nan Tian, Ajay Kumar Tanwani, Ken Goldberg and Somayeh Sojoudi. Mitigating Network Latency in Cloud-Based Teleoperation using Motion Segmentation and Synthesis, International Symposium on Robotics Research (ISRR), Hanoi, Vietnam, October 2019
[pdf] [bibtex] [video]
- Benno Staub, Ajay Kumar Tanwani, Jeffrey Mahler, Michel Breyer, Michael Laskey, Yutaka Takaoka, Max Bajracharya, Roland Siegwart, Ken Goldberg. Dex-Net MM: Deep Grasping for Surface Decluttering with a Low-Precision Mobile Manipulator, IEEE International Conference on Automation Science and Engineering (CASE), 2019
[pdf] [bibtex]
- Ajay Kumar Tanwani, Nitesh Mor, John Kubiatowicz, Joseph E. Gonzalez, Ken Goldberg. A Fog Robotics Approach to Deep Robot Learning: Application to Object Recognition and Grasp Planning in Surface Decluttering, IEEE International Conference on Robotics and Automation (ICRA), 2019
[pdf] [bibtex] [arxiv] [website] [video]
- Dezhen Song, Ajay Kumar Tanwani, Ken Goldberg. Networked-, Cloud- and Fog-Robotics, Robotics goes MOOC, Springer Nature MOOCs, Bruno Siciliano (Editor), Springer. 2019
[pdf] [bibtex]
- Nan Tian, Ajay Kumar Tanwani, J. Chen, M. Ma, R. Zhang, B. Huang, Ken Goldberg, Somayeh Sojoudi, A fog robotic system for dynamic visual servoing, IEEE International Conference on Robotics and Automation (ICRA), 2019
[pdf] [bibtex]
- Ajay Kumar Tanwani, Sylvain Calinon. Small Variance Asymptotics for Non-Parametric Online Robot Learning. International Journal of Robotics and Research, 2019
[pdf] [bibtex] [arxiv] [video1] [video2]
- Ajay Kumar Tanwani, Jonathan Lee, Brijen Thananjeyan, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg, Sylvain Calinon. Generalizing Robot Imitation Learning with Invariant Hidden Semi-Markov Models. Algorithmic Foundations on Robotics WAFR, 2018
[pdf] [bibtex]
- Jonathan Lee, Michael Laskey, Ajay Kumar Tanwani, Anil Aswani, Ken Goldberg. A Dynamic Regret Analysis and Adaptive Regularization Algorithm for On-Policy Robot Imitation Learning. Algorithmic Foundations on Robotics WAFR, 2018
[pdf] [bibtex]
- Pusong Li, Bill DeRose, Jeffrey Mahler, Juan Aparicio Ojea, Ajay Kumar Tanwani, Ken Goldberg. Dex-Net as a Service (DNaaS): A Cloud-Based Robust Robot Grasp Planning System. IEEE International Conference on Automation Science and Engineering (CASE), 2018
[pdf] [bibtex] [website] [media]
- A. Birk, T. Fromm, C.A. Mueller, T. Luczynski, A.G. Chavez, D. Koehntopp, A. Kupcsik, S. Calinon, A.K. Tanwani, G. Antonelli, P. di Lillo, E. Simetti, G. Casalino, G. Indiveri, L. Ostuni, A. Turetta, A. Caffaz, P. Weiss, T. Gobert, B. Chemisky, J. Gancet, T. Siedel, S. Govindaraj, X. Martinez, and P. Letier. Dexterous Underwater Manipulation from Distant Onshore Locations. IEEE Robotics and Automation Magazine, 2018
[pdf] [bibtex]
- Ajay Kumar Tanwani, Jonathon Lee, Michael Laskey, Sanjay Krishnan, Roy Fox, Ken Goldberg. Robot Learning with Invariant Hidden Semi-Markov Models. Imitation and Causality Workshop in Robotics, Science and Systems, 2018
[pdf] [bibtex] [poster]
- Jonathon Lee, Michael Laskey, Ajay Kumar Tanwani, Ken Goldberg. Stability Analysis of On-Policy Imitation Learning Algorithms Using Dynamic Regret . Imitation and Causality Workshop in Robotics, Science and Systems, 2018
[pdf] [bibtex] [poster]
- [PhD Thesis] Ajay Kumar Tanwani. Generative Models for Learning Robot Manipulation Skills from Humans . PhD Thesis, Ecole Polytechnique Federale de Lausanne, EPFL, 2018
[pdf] [multimedia] [bibtex]
- Ajay Kumar Tanwani, Sylvain Calinon. A Generative Model for Intention Recognition and Manipulation Assistance in Teleoperation . IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017
[pdf] [bibtex] [video1] [video2] [media]
- Ajay Kumar Tanwani, Sylvain Calinon. Small Variance Asymptotics for Non-Parametric Online Robot Learning. arXiv:1610.02468, 2016
[pdf] [bibtex] [video1] [video2]
- Ajay Kumar Tanwani, Sylvain Calinon. Online Inference in Bayesian Non-Parametric Mixture Models under Small Variance Asymptotics . NIPS workshop on Advances in Approximate Bayesian Inference, 2016
[pdf] [bibtex] [poster]
- J. Gancet, P. Weiss, G. Antonelli, MF. Pfingsthorn, S. Calinon, A. Turetta, C. Walen, D. Urbina, S. Govindaraj, P. Letier, X. Martinez, J. Salini, B. Chemisky, G. Indiveri, G. Casalino, P. Di Lillo, E. Simetti, D. De Palma, A. Birk, A. K. Tanwani, I. Havoutis, A. Caffaz, L. Guilpain. Dexterous Undersea Interventions with Far Distance Onshore Supervision: the DexROV Project . IFAC Conference on Control Applications in Marine Systems (CAMS), 2016
[pdf] [bibtex] [video]
- Ioannis Havoutis, Ajay Kumar Tanwani and Sylvain Calinon, Online Incremental Learning of Manipulation Tasks for Semi-Autonomous Teleoperation . IEEE/RSJ IROS Workshop on Closed-loop Grasping and Manipulation, 2016
[pdf] [bibtex] [video]
- [Best Manipulation Paper Award Finalist at ICRA 2016] Ajay Kumar Tanwani, Sylvain Calinon. Learning Robot Manipulation Tasks with Task-Parameterized Semi-Tied Hidden Semi-Markov Model. IEEE Robotics and Automation Letters (RA-L), vol. 1 (1), pp. 235-242, 2016. presented in International Conference on Robotics and Automation (ICRA) 2016
[pdf] [bibtex] [video] [codes] [slides] [media1][media2]
- Ajay Kumar Tanwani. Learning Robot Manipulation Tasks with Semi-Tied Gaussian Mixture Models. Swiss Machine Learning Day, EPFL, 2015
[link] [slides]
- J. Gancet, D. Urbina, P. Letier, M. Ilzokvitz, P. Weiss, F. Gauch, G. Antonelli, G. Indiveri, G. Casalino, A. Birk, MF. Pfingsthorn, S. Calinon, A. K. Tanwani, A. Turetta, C. Walen, L. Guilpain. DexROV: Dexterous Undersea Inspection and Maintenance in Presence of Communication Latencies. IFAC Workshop on Navigation, Guidance and Control of Underwater Vehicles (NGCUV), 2015
[pdf] [bibtex] [video]
- Ajay Kumar Tanwani, José del R. Millán, Aude Billard. Rewards-Driven Control of Robot Arm by Decoding EEG Signals. IEEE Engineering in Medicine and Biology Society Conference (EMBC), 2014
[pdf] [bibtex] [slides]
- Ajay Kumar Tanwani, Aude Billard. Transfer in Inverse Reinforcement Learning for Multiple Strategies. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2013
[pdf] [bibtex] [video] [slides]
- Ajay Kumar Tanwani, Aude Billard. Inverse Reinforcement Learning for Compliant Manipulation in Letter Handwriting. National Center of Competence in Robotics Research (NCCR) Review, 2013
[poster]
- Pawel Wawrzynski, Ajay Kumar Tanwani. Autonomous reinforcement learning with experience replay. Neural Networks, Elsevier, 2013
[pdf] [bibtex]
- Ajay Kumar Tanwani. Optimizing walking of a humanoid robot using reinforcement learning. MS Thesis, European Masters on Advanced Robotics (EMARO), Nov 2011
[pdf] [bibtex] [video]
- Ajay Kumar Tanwani, Muddassar Farooq, Classification potential vs classification accuracy: a comprehensive study of evolutionary algorithms with biomedical datasets. J. Bacardit et al. (Eds), Learning Classifier Systems (LCS), Springer LNAI, 2010
[pdf] [bibtex]
- Ajay Kumar Tanwani, Jamal Afridi, Zubair Shafique and Muddassar Farooq. Guidelines to select machine learning scheme for classification of biomedical datasets. 7th European Conference on Evolutionary Computation, Machine Learning and Datamining (EvoBIO), Springer LNCS, 2009
[pdf] [bibtex]
- Ajay Kumar Tanwani, Muddassar Farooq. The role of biomedical dataset in classification. Artificial Intelligence in Medicine (AIME), Springer LNAI, 2009
[pdf] [bibtex]
- Syed Bilal Mehdi, Ajay Kumar Tanwani, Muddassar Farooq. IMAD: In-execution malware analysis and detection. Genetic and Evolutionary Computation Conference (GECCO), 2009
[pdf] [bibtex]
- Ajay Kumar Tanwani, Muddassar Farooq. Performance evaluation of evolutionary algorithms in classification of biomedical datasets. International Workshop on Learning Classifier Systems, IWLCS (GECCO), 2009
[pdf] [bibtex]
- Amina Tariq, Ajay Kumar Tanwani and Muddassar Farooq. User-centered design for mobile healthcare application in conservative environments. 10th Annual Conference of the NZ group on Human Computer Interaction, CHI-NZ, 2009
[pdf] [bibtex]