Publications (10)
6-DoF Grasp Planning using Fast 3D Reconstruction and Grasp Quality CNN
Yahav Avigal, Samuel Paradis, Harry Zhang
Recent consumer demand for home robots has accelerated performance of robotic grasping. However, a key component of the perception pipeline, the depth camera, is still expensive an…
DeepChrome 2.0: Investigating and Improving Architectures, Visualizations, & Experiments
Saurav Kadavath, Samuel Paradis, Jacob Yeung
Histone modifications play a critical role in gene regulation. Consequently, predicting gene expression from histone modification signals is a highly motivated problem in epigeneti…
Intermittent Visual Servoing: Efficiently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation
Samuel Paradis, Minho Hwang, Brijen Thananjeyan +6
Automation of surgical tasks using cable-driven robots is challenging due to backlash, hysteresis, and cable tension, and these issues are exacerbated as surgical instruments must…
Efficiently Calibrating Cable-Driven Surgical Robots with RGBD Fiducial Sensing and Recurrent Neural Networks
Minho Hwang, Brijen Thananjeyan, Samuel Paradis +5
Automation of surgical subtasks using cable-driven robotic surgical assistants (RSAs) such as Intuitive Surgical's da Vinci Research Kit (dVRK) is challenging due to imprecision in…
Pay Attention: Leveraging Sequence Models to Predict the Useful Life of Batteries
Samuel Paradis, Michael Whitmeyer
We use data on 124 batteries released by Stanford University to first try to solve the binary classification problem of determining if a battery is "good" or "bad" given only the f…
Automating Surgical Peg Transfer: Calibration with Deep Learning Can Exceed Speed, Accuracy, and Consistency of Humans
Minho Hwang, Jeffrey Ichnowski, Brijen Thananjeyan +5
Peg transfer is a well-known surgical training task in the Fundamentals of Laparoscopic Surgery (FLS). While human sur-geons teleoperate robots such as the da Vinci to perform this…
Pretraining & Reinforcement Learning: Sharpening the Axe Before Cutting the Tree
Saurav Kadavath, Samuel Paradis, Brian Yao
Pretraining is a common technique in deep learning for increasing performance and reducing training time, with promising experimental results in deep reinforcement learning (RL). H…
Photometry of the Uranian Satellites with Keck and the Search for Mab
Samuel Paradis, Chris Moeckel, Joshua Tollefson +1
We present photometric properties of six small (radii < 100 km) satellites of Uranus based on 32 H-(1.49-1.78 um) band images taken on August 29, 2015 from the Keck II Telescope on…
Applying Depth-Sensing to Automated Surgical Manipulation with a da Vinci Robot
Minho Hwang, Daniel Seita, Brijen Thananjeyan +5
Recent advances in depth-sensing have significantly increased accuracy, resolution, and frame rate, as shown in the 1920x1200 resolution and 13 frames per second Zivid RGBD camera.…
Learning to Localize, Grasp, and Hand Over Unmodified Surgical Needles
Albert Wilcox, Justin Kerr, Brijen Thananjeyan +5
Robotic Surgical Assistants (RSAs) are commonly used to perform minimally invasive surgeries by expert surgeons. However, long procedures filled with tedious and repetitive tasks s…