Jennifer Grannen

I am a CS PhD student at Stanford University in the Stanford AI Lab (SAIL), advised by Prof. Dorsa Sadigh. I am broadly interested in human-robot interaction and multi-agent systems for real-world manipulation tasks. My work is supported by the NSF Graduate Research Fellowship.

Previously, I completed my Bachelor's in Computer Science at UC Berkeley, where I worked in the AUTOLAB within Berkeley AI Research (BAIR) and was advised by Prof. Ken Goldberg.

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Research
vs-users Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration
Jennifer Grannen*, Siddharth Karamcheti*, Suvir Mirchandani, Percy Liang, Dorsa Sadigh
Conference on Robot Learning (CoRL), 2024. Oral Presentation.
[website] [pdf]
buds-jacket-zip Stabilize to Act: Learning to Coordinate for Bimanual Manipulation
Jennifer Grannen, Yilin Wu, Brandon Vu, Dorsa Sadigh
Conference on Robot Learning (CoRL), 2023. Oral Presentation.
[website] [pdf] [video]
in-mouth-transfer In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing
Lorenzo Shaikewitz*, Yilin Wu*, Suneel Belkhale*, Jennifer Grannen, Priya Sundaresan, Dorsa Sadigh
International Conference on Robotics and Automation (ICRA), 2023.
[website] [pdf]
biman-scooping Learning Bimanual Scooping Policies for Food Acquisition
Jennifer Grannen*, Yilin Wu*, Suneel Belkhale, Dorsa Sadigh
Conference on Robot Learning (CoRL), 2022.
[website] [pdf] [video]
mult-cable-untangling Disentangling Dense Multi-Cable Knots
Vainavi Viswanath*, Jennifer Grannen*, Priya Sundaresan*, Brijen Thananjeyan, Ashwin Balakrishna, Ellen Novoseller, Jeffrey Ichnowski, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
International Conference on Intelligent Robots and Systems (IROS), 2021.
[website] [pdf]
nonplanar-untangling Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies
Priya Sundaresan*, Jennifer Grannen*, Brijen Thananjeyan, Ashwin Balakrishna, Jeffrey Ichnowski, Ellen Novoseller, Minho Hwang, Michael Laskey, Joseph E. Gonzalez, Ken Goldberg
Robotics: Science and Systems (RSS), 2021.
[website] [pdf]
cloth_descriptors 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
International Conference on Robotics and Automation (ICRA), 2021.
[website] [pdf]
untangling 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.
[website] [pdf] [talk]
rope-manip 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
International Conference on Robotics and Automation (ICRA), 2020.
[website] [pdf]
Teaching & Outreach
Stanford CS221 (Artificial Intelligence)
Course Assistant, Problem Session Lead
Stanford CS Undergraduate Mentorship Program
Co-Organizer, Mentor
Stanford AI4ALL
Instructor, Mentor
cs188 CS 188 (Artificial Intelligence)
Undergraduate Student Instructor, CS188 Spring 2021
Undergraduate Student Instructor, CS188 Fall 2020
Society of Women Engineers, SWE++
Instructor, Outreach Lead
Expanding Your Horizons Conference
Workshop Leader, Undergraduate Mentor

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