About Me

I am a post-doctoral researcher in the RISE lab and Prof. Ken Goldberg’s AUTOLAB at the University of California at Berkeley. I hold a Ph.D. in Computer Science from the University of North Carolina at Chapel Hill, where I was advised by Prof. Ron Alterovitz and Prof. Jan Prins; and I hold a B.A. in Computer Science and Asian Studies with Honors from University of California at Berkeley. Between my B.A. and Ph.D., I founded numerous startups and was the principal architect at SuccessFactors, Inc., one of the world's leading cloud-based software-as-a-service companies. My research interests are in robot grasp and motion planning in dynamic environments using cloud-based high-performance computing, optimization, and deep learning.

Publications

  • Shivin Devgon, Jeffrey Ichnowski, Ashwin Balakrishna, Harry Zhang, Ken Goldberg, “Orienting Novel 3D Objects Using Self-Supervised Learning of Rotation Transforms,” IEEE International Conference on Automation Science and Engineering (CASE) 2020
  • Jingyi Song, Ajay Kumar Tanwani, Jeffrey Ichnowski, Michael Danielczuk, Kate Sanders, Jackson Chui, Juan A. Ojea, Ken Goldberg, “Robust Task-Based Grasping as a Service,” IEEE International Conference on Automation Science and Engineering (CASE) 2020
  • Daniel Seita, Aditya Ganapathi, Ryan Hoque, Minho Hwang, Edward Cen, Ajay Kumar Tanwani, Ashwin Balakrishna, Brijen Thananjeyan, Jeffrey Ichnowski, Nawid Jamali, Kastu Yamane, Soshi Iba, John Canny, Ken Goldberg, “Deep Imitation Learning of Sequential Fabric Smoothing From an Algorithmic Supervisor.” IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) October 2020
  • Minho Hwang, Brijen Thananjeyan, Samuel Paradis, Daniel Seita, Jeffrey Ichnowski, Danyal Fer, Thomas Low, Ken Goldberg, “Efficiently Calibrating Cable-Driven Surgical Robots With RGBD Sensing, Temporal Windowing, and Linear and Recurrent Neural Network Compensation” IEEE Robotics and Automation Letters (RA-L) 2020
  • Jeffrey Ichnowski, Michael Danielczuk, Jingyi Xu, Vishal Satish, Ken Goldberg, “GOMP: Grasp-Optimized Motion Planning for Bin Picking” IEEE International Conference on Robotics and Automation (ICRA) June 2020
  • Jeffrey Ichnowski, William Lee, Victor Murta, Samuel Paradis, Ron Alterovitz, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg, “Fog Robotics Algorithms for Distributed Motion Planning Using Lambda Serverless Computing” Proc. IEEE International Conference on Robotics and Automation (ICRA) June 2020
  • Jingyi Xu, Michael Danielczuk, Jeffrey Ichnowski, Jeffrey Mahler, Eckehard Steinbach, Ken Goldberg, “Minimal Work: A Grasp Quality Metric for Deformable Hollow Objects,” IEEE International Conference on Robotics and Automation (ICRA) June 2020
  • Harry Zhang, Jeffrey Ichnowski, Yahav Avigal, Joseph E. Gonzalez, Ion Stoica, Ken Goldberg, “Dex-Net AR: Distributed Deep Grasp Planning Using an Augmented Reality Application and a Smartphone Camera,” IEEE International Conference on Robotics and Automation (ICRA) June 2020
  • Jeffrey Ichnowski, Ron Alterovitz, “Multilevel Incremental Roadmap Spanners for Reactive Motion Planning,” Proc. IEEE International Conference on Robotics and Automation (ICRA) 2019
  • Jeffrey Ichnowski, Ron Alterovitz, “Motion Planning Templates: A Motion Planning Framework for Robots with Low-power CPUs,” Proc. IEEE International Conference on Robotics and Automation (ICRA) 2019
  • David Wang*, David Tseng*, Pusong Li*, Yiding Jiang*, Menglong Guo, Michael Danielczuk, Jeffrey Mahler, Jeffrey Ichnowski, Ken Goldberg, “Adversarial Grasp Objects,” IEEE International Conference on Automation Science and Engineering (CASE) August 2019
  • Jeffrey Ichnowski “Scaling Robot Motion Planning to Multi-Core Processors and the Cloud,” Ph.D. Dissertation, Department of Computer Science, University of North Carolina, Chapel Hill 2019
  • Jeffrey Ichnowski, Ron Alterovitz, “Concurrent Nearest-Neighbor Searching for Parallel Sampling-based Motion Planning in SO(3), SE(3), and Euclidean Topologies,” Proc. Algorithmic Foundations of Robotics (WAFR) December 2018
  • Jeffrey Ichnowski, Jan Prins, Ron Alterovitz, “The Economic Case for Cloud-based Computation for Robot Motion Planning,” Proc. International Symposium on Robotics Research (ISRR), December 2017
  • Jeffrey Ichnowski, Jan F. Prins, Ron Alterovitz, “Cloud-based Motion Plan Computation for Power-Constrained Robots,” Proc. Algorithmic Foundations of Robotics (WAFR), December 2016
  • Jeffrey Ichnowski, Ron Alterovitz, ”Fast Nearest Neighbor Search in SE(3) for Sampling-Based Motion Planning,“ Proc. Algorithmic Foundations of Robotics (WAFR), August 2014
  • Jeffrey Ichnowski, Ron Alterovitz, “Scalable Multicore Motion Planning Using Lock-Free Concurrency,” IEEE Transactions on Robotics, 2014
  • Jeffrey Ichnowski, Jan F. Prins, and Ron Alterovitz, “Cache-Aware Asymptotically-Optimal Sampling-Based Motion Planning,” Proc. IEEE International Conference on Robotics and Automation (ICRA), Jun. 2014, pp. 5804–5810
  • Jeffrey Ichnowski and Ron Alterovitz, “Parallel Sampling-Based Motion Planning with Superlinear Speedup,” in Proc. IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), Oct. 2012, pp. 1206–1212.
  • Stephen Chenney, Jeffrey Ichnowski, and David A. Forsyth, “Dynamics Modeling and Culling,” IEEE Computer Graphics and Applications, March/April 1999, pp. 79–87.
  • Stephen Chenney, Jeffrey Ichnowski, and David A. Forsyth, “Efficient Dynamics Modeling for VRML and Java,” in Proc. 1998 Symposium on the Virtual Reality Modeling Language (VRML98), 1998, pp. 15–24

Software

Patents

  • Jeffrey Ichnowski, “Streaming insertion of tokens into content to protect against CSRF”, US Patent 8,438,649, filed Apr 16, 2010, and issued May 7, 2013
  • James Wei-Ching Kao, Mark Hill, Jeffrey Ichnowski, and David Tze-Si Wu, “Database forms with attached audit history”, US Patent 6,070,177, filed Mar 6, 1998, and issued May 30, 2000
  • David Tze-Si Wu and Jeffrey Ichnowski, “Scripting language for distributed database programming”, US Patent 6,243,711, filed Mar 6, 1998, and issued Jun 5, 2001

Teaching

COMP 781, Guest Lecture, Mar 5, 2019: This is a graduate level robotics course lecture on scaling motion planning computation to multi-core processors and the cloud. It presents the computational potential of multi-core processors and parallel algorithms that can scale to use that potential.

COMP 581, Guest Lecture, Oct 2, 2018: This is an advanced-undergraduate/graduate-student robotics course lecture on highly parallelised motion planning and the data structures that enable them.

COMP 110, Summer Session I, 2016: COMP 110 begins with the fundamentals of programming a modern computer. This runs the gamut from small embedded devices, to smart phones, robots, web servers, and super computers. Students get the tools needed for programming installed and running on their computers. The course covers programming basics, such as expression, input/output, and flow control. It introduces program design, structuring, and reuse concepts, including object oriented programming. The course also covers introductory data-structures and algorithms, along with their design and implementation.