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.

Email / CV / Google Scholar / Twitter / GitHub

Research

	ProVox: Personalization and Proactive Planning for Situated Human-Robot Collaboration Jennifer Grannen, Siddharth Karamcheti, Blake Wulfe, Dorsa Sadigh IEEE Robotics and Automation Letters (RA-L), 2025. [website] [pdf] [citation] @article{grannen2025provox, title={ProVox: Personalization and Proactive Planning for Situated Human-Robot Collaboration}, author = {Jennifer Grannen and Siddharth Karamcheti and Blake Wulfe and Dorsa Sadigh}, journal={IEEE Robotics and Automation Letters (RA-L)}, year = {2025}, }
	A Study of Perceived Safety for Soft Robotics in Caregiving Tasks Cosima du Pasquier, Jennifer Grannen, Chuer Pan, Serin L. Huber, Aliyah Smith, Monroe Kennedy, Shuran Song, Dorsa Sadigh, Allison M. Okamura RoboSoft, 2025. Extended Abstract. [pdf] [citation] @article{pasquier2025caregiving, title={A Study of Perceived Safety for Soft Robotics in Caregiving Tasks}, author = {Cosima du Pasquier and Jennifer Grannen and Chuer Pan and Serin L. Huber and Aliyah Smith and Monroe Kennedy and Shuran Song and Dorsa Sadigh and Allison M. Okamura}, journal = {arXiv preprint arXiv:2503.20916}, year = {2025}, }
	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] [video] [citation] @inproceedings{grannen2024vocal, title={Vocal Sandbox: Continual Learning and Adaptation for Situated Human-Robot Collaboration}, author = {Jennifer Grannen and Siddharth Karamcheti and Suvir Mirchandani and Percy Liang and Dorsa Sadigh}, booktitle={Conference on Robot Learning}, year = {2024}, }
	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] [citation] @inproceedings{grannen2023stabilize, title={Stabilize to Act: Learning to Coordinate for Bimanual Manipulation}, author = {Jennifer Grannen and Yilin Wu and Brandon Vu and Dorsa Sadigh}, booktitle={Conference on Robot Learning}, year = {2023}, }
	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] [citation] @inproceedings{shaikewitz2023inmouth, title={In-Mouth Robotic Bite Transfer with Visual and Haptic Sensing}, author = {Lorenzo Shaikewitz and Yilin Wu and Suneel Belkhale and Jennifer Grannen and Priya Sundaresan and Dorsa Sadigh}, booktitle={International Conference on Robotics and Automation}, year = {2023}, }
	Learning Bimanual Scooping Policies for Food Acquisition Jennifer Grannen, Yilin Wu, Suneel Belkhale, Dorsa Sadigh Conference on Robot Learning (CoRL), 2022. [website] [pdf] [video] [citation] @inproceedings{grannen2020learning, title={Learning Bimanual Scooping Policies for Food Acquisition}, author = {Jennifer Grannen and Yilin Wu and Suneel Belkhale and Dorsa Sadigh}, booktitle={Conference on Robot Learning}, year = {2022}, }
	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] [citation] @inproceedings{viswanath2021disentangling, title={Disentangling Dense Multi-Cable Knots}, author = {Vainavi Viswanath and Jennifer Grannen and Priya Sundaresan and Brijen Thananjeyan and Ashwin Balakrishna and Ellen Novoseller and Jeffrey Ichnowski and Michael Laskey and Joseph E. Gonzalez and Ken Goldberg}, booktitle={International Conference on Intelligent Robots and Systems}, year = {2021}, }
	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] [citation] @inproceedings{sundaresan2021untangling, title={Untangling Dense Non-Planar Knots by Learning Manipulation Features and Recovery Policies}, author = {Priya Sundaresan and Jennifer Grannen and Brijen Thananjeyan and Ashwin Balakrishna and Jeffrey Ichnowski and Ellen Novoseller and Minho Hwang and Michael Laskey and Joseph E. Gonzalez and Ken Goldberg}, booktitle={Robotics: Science and Systems (RSS)}, year = {2021}, }
	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] [citation] @inproceedings{ganapathi2021learning, title={Untangling Dense Knots by Learning Task-Relevant Keypoints}, author = {Aditya Ganapathi and Priya Sundaresan and Brijen Thananjeyan and Ashwin Balakrishna and Daniel Seita and Jennifer Grannen and Minho Hwang and Ryan Hoque and Joseph E. Gonzalez and Nawid Jamali and Katsu Yamane and Soshi Iba and Ken Goldberg}, booktitle={International Conference on Robotics and Automation}, year = {2021}, }
	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] [citation] @inproceedings{grannen2020untangling, title={Untangling Dense Knots by Learning Task-Relevant Keypoints}, author = {Jennifer Grannen and Priya Sundaresan and Brijen Thananjeyan and Jeffrey Ichnowski and Ashwin Balakrishna and Minho Hwang and Vainavi Viswanath and Michael Laskey and Joseph E. Gonzalez and Ken Goldberg}, booktitle={Conference on Robot Learning}, year = {2020}, }
	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] [citation] @inproceedings{sundaresan2020learning, title={Learning Rope Manipulation Policies Using Dense Object Descriptors Trained on Synthetic Depth Data}, author = {Priya Sundaresan and Jennifer Grannen and Brijen Thananjeyan and Ashwin Balakrishna and Michael Laskey and Kevin Stone and Joseph E. Gonzalez and Ken Goldberg}, booktitle={International Conference on Robotics and Automation}, year = {2020}, }

Teaching & Outreach

	Stanford CS221 (Artificial Intelligence) Course Assistant, Problem Session Lead
	Stanford CS Undergraduate Mentorship Program Co-Organizer, Mentor
	Stanford AI4ALL Instructor, Mentor
	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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