Books

• J. Boissonnat, J. Burdick, K. Goldberg, and S. Hutchinson, Algorithmic Foundations of Robotics V, Springer Tracts in Advanced Robotics; v. 7, Berlin; New York: Springer, 2004.
• K. Goldberg and R. Siegwart, Eds., Beyond Webcams: An Introduction to Online Robots, Cambridge, MA: MIT Press, 2002.
• K. Goldberg, Ed., The Robot in the Garden: Telerobotics and Telepistemology in the Age of the Internet, Cambridge, MA: MIT Press, 2000.
• K. Goldberg, D. Halperin, J. Latombe, and R. Wilson, Eds., Algorithmic Foundations of Robotics, Wellesley, MA: A K Peters, Ltd., 1995.
• G. A. Bekey and K. Goldberg, Eds., Neural Networks in Robotics, Boston: Kluwer Academic, 1993.

Book chapters or sections

• D. Song and K. Goldberg, "Networked robotic cameras for collaborative observation of natural environments," in Robotics Research: Proc. 12th Intl. Symp. on Robotics Research (ISRR 2005), S. Thrun, R. Brooks, and H. Durrant-Whyte, Eds., Springer Tracts in Advanced Robotics, Vol. 28, Berlin, Germany: Springer-Verlag, 2007, pp. 510-519.
• K. Gopalakrishnan and K. Goldberg, "Computing deform closure grasps," in Algorithmic Foundations of Robotics VI: Proc. 6th Intl. Workshop on Algorithmic Foundations of Robotics (WAFR 2004), M. Erdmann, D. Hsu, M. Overmars, and A. F. van der Stappen, Eds., Springer Tracts in Advanced Robotics, Vol. 17, Berlin, Germany: Springer-Verlag, 2005, pp. 203-218.

Articles in journals or magazines

• K. Goldberg, "For updated list of Prof. Goldberg's papers, please see: https://goldberg.berkeley.edu/pubs/," WWW, Aug. 2020.
• B. Kehoe, S. Patil, P. Abbeel, and K. Goldberg, "A Survey of Research on Cloud Robotics and Automation," IEEE Trans. on Automation Science and Engineering: Special Issue on Cloud Robotics and Automation, vol. 12, no. 2, April 2015.
• K. Goldberg, S. Faridani, and R. Alterovitz, "Two Large Open-Access Datasets for Fitts' Law of Human Motion and a Succinct Derivation of the Square-Root Variant," IEEE Transactions on Human-Machine Systems, vol. 45, no. 1, pp. 62-73, Feb. 2015.
• N. Chentanez, R. Alterovitz, D. Ritchie, L. Cho, K. K. Hauser, K. Goldberg, J. Shewchuk, and J. O'Brien, "Simulation of Needle Insertion and Tissue Deformation for Modeling Prostate Brachytherapy," Brachytherapy, vol. 9, no. Supplement 1, pp. S72--S73, June 2010.
• D. Song, N. Qin, and K. Goldberg, "Systems, control models, and codec for collaborative observation of remote environments with an autonomous networked robotic camera," Autonomous Robots, vol. 24, no. 4, pp. 435-449, May 2008.
• D. Song and K. Goldberg, "Approximate algorithms for a collaboratively controlled robotic camera," IEEE Trans. on Robotics, vol. 23, no. 5, pp. 1061-1070, Oct. 2007.
• M. T. Zhang and K. Goldberg, "Designing robot grippers: Optimal edge contacts for part alignment," Robotica, vol. 25, no. 3, pp. 341-349, May 2007.
• D. Gudmundsson and K. Goldberg, "Optimizing robotic part feeder throughput with queueing theory," Assembly Automation, vol. 27, no. 2, pp. 134-140, April 2007.
• J. S. Cheong, A. F. van der Stappen, K. Goldberg, M. H. Overmars, and E. Rimon, "Immobilizing hinged polygons," Intl. J. Computational Geometry & Applications, vol. 17, no. 1, pp. 45-70, Feb. 2007.
• R. Alterovitz, E. Lessard, J. Pouliot, I. J. Hsu, J. O'Brien, and K. Goldberg, "Optimization of HDR brachytherapy dose distributions using linear programming with penalty costs," Medical Physics, vol. 33, no. 11, pp. 4012-4019, Nov. 2006.
• O. C. Goemans, K. Goldberg, and A. F. van der Stappen, "Blades for feeding 3D parts on vibratory tracks," Assembly Automation, vol. 26, no. 3, pp. 221-226, July 2006.
• R. Alterovitz, K. Goldberg, J. Pouliot, I. C. J. Hsu, Y. Kim, S. M. Noworolski, and J. Kurhanewicz, "Registration of MR prostate images with biomechanical modeling and nonlinear parameter estimation," Medical Physics, vol. 33, no. 2, pp. 446-454, Feb. 2006.
• D. Song, A. F. van der Stappen, and K. Goldberg, "Exact algorithms for single frame selection on multiaxis satellites," IEEE Trans. Automation Science and Engineering, vol. 3, no. 1, pp. 16-28, Jan. 2006.
• K. Gopalakrishnan and K. Goldberg, "D-space and deform closure grasps of deformable parts," Intl. J. Robotics Research, vol. 24, no. 11, pp. 899-910, Nov. 2005.
• M. T. Zhang and K. Goldberg, "Fixture-based industrial robot calibration for silicon wafer handling," Industrial Robot: An Intl. J., vol. 32, no. 1, pp. 43-48, Jan. 2005.
• K. Gopalakrishnan, K. Goldberg, G. M. Bone, M. J. Zaluzec, R. Koganti, R. Pearson, and P. A. Deneszczuk, "Unilateral fixtures for sheet metal parts with holes (Trans. ASE Best Journal Paper of 2004 Award)," IEEE Trans. Automation Science and Engineering, vol. 1, no. 2, pp. 110-120, Oct. 2004.
• M. T. Zhang and K. Goldberg, "A computer-aided design tool in Java for planar gripper design," J. Computing and Information Science in Engineering, vol. 4, no. 1, pp. 43-48, March 2004.
• K. Goldberg, D. Song, and A. Levandowski, "Collaborative teleoperation using networked spatial dynamic voting (Invited Paper)," Proc. IEEE: Special Issue on Networked Robots, vol. 91, no. 3, pp. 430-439, March 2003.
• K. Goldberg, D. Song, and A. Levandowski, "Collaborative teleoperation using networked spatial dynamic voting," Proc. IEEE, vol. 91, no. 3, pp. 430-439, March 2003.
• K. Goldberg, A. Pashkevich, and D. Song, "Geometrical calibration of robotic web cameras," Trans. Belarusian Engineering Academy, vol. 1(15), no. 1, pp. 12-14, Jan. 2003.
• M. T. Zhang and K. Goldberg, "Gripper point contacts for part alignment," IEEE Trans. Robotics and Automations, vol. 18, no. 6, pp. 902-910, Dec. 2002.
• J. Chen, K. Goldberg, M. H. Overmars, D. Halperin, K. F. bohringer, and Y. Zhuang, "Computing tolerance parameters for fixturing and feeding," Assembly Automation, vol. 22, no. 2, pp. 163-172, May 2002.
• M. Moll, K. Goldberg, M. A. Erdmann, and R. S. Fearing, "Aligning parts for micro assemblies," Assembly Automation: Special Issue on Actuators and Micro Assembly, vol. 22, no. 1, pp. 46-54, Feb. 2002.
• D. Halperin, M. Sharir, and K. Goldberg, "The 2-center problem with obstacles," J. Algorithms, vol. 42, no. 1, pp. 109-134, Jan. 2002.
• R. P. Berretty, K. Goldberg, M. H. Overmars, and A. F. van der Stappen, "Trap design for vibratory bowl feeders," The Intl. J. Robotics Research, vol. 20, no. 11, pp. 891-908, Nov. 2001.
• M. T. Zhang, K. Goldberg, G. Smith, R. P. Beretty, and M. Overmars, "Pin design for part feeding," Robotica, vol. 19, no. 6, pp. 695-702, Sep. 2001.
• K. Goldberg, T. Roeder, D. Gupta, and C. Perkins, "Eigentaste: A constant-time collaborative filtering algorithm," Information Retrieval, vol. 4, no. 2, pp. 133-151, July 2001.
• K. F. Bohringer, V. Bhatt, B. R. Donald, and K. Goldberg, "Algorithms for sensorless manipulation using a vibrating surface," Algorithmica, vol. 26, no. 3-4, pp. 389-429, April 2000.
• A. F. van der Stappen, K. Goldberg, and M. H. Overmars, "Geometric eccentricity and the complexity of manipulation plans," Algorithmica, vol. 26, no. 3-4, pp. 494-514, April 2000.
• K. Goldberg, B. V. Mirtich, Y. Zhuang, J. Craig, B. R. Carlisle, and J. F. Canny, "Part pose statistics: Estimators and experiments," IEEE Trans. Robotics and Automation, vol. 15, no. 5, pp. 849-857, Oct. 1999.

Articles in conference proceedings

• K. Chen, R. Hoque, K. Dharmarajan, E. LLontopl, S. Adebola, J. Ichnowski, J. D. Kubiatowicz, and K. Goldberg, "FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity," in 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2023, pp. 1-8.
• V. Kamat, S. Aeron, A. Gu, H. Jalan, S. Adebola, and K. Goldberg, "PolyPoD: An Algorithm for Polyculture Seed Placement," in 2023 IEEE 19th International Conference on Automation Science and Engineering (CASE), 2023, pp. 1-6.
• S. Adebola, R. Parikh, M. Presten, S. Sharma, S. Aeron, A. Rao, S. Mukherjee, T. Qu, C. Wistrom, E. Solowjow, and K. Goldberg, "Can Machines Garden? Systematically Comparing the AlphaGarden vs. Professional Horticulturalists," in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, pp. 11779-11785.
• J. Ichnowski, K. Chen, K. Dharmarajan, S. Adebola, M. Danielczuk, V. Mayoral-Vilches, N. Jha, H. Zhan, E. Llontop, D. Xu, C. Buscaron, J. D. Kubiatowicz, I. Stoica, J. Gonzalez, and K. Goldberg, "FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2," in 2023 IEEE International Conference on Robotics and Automation (ICRA), 2023, pp. 5493-5500.
• M. Presten, R. Parikh, S. Aeron, S. Mukherjee, S. Adebola, S. Sharma, M. Theis, W. Teitelbaum, and K. Goldberg, "Automated Pruning of Polyculture Plants," in 2022 IEEE 18th International Conference on Automation Science and Engineering (CASE), 2022, pp. 242-249.
• S. Adebola and K. Goldberg, "Assisting Polyculture Farming in Africa," in 2021 IEEE AFRICON, 2021, pp. 1-2.
• B. Nonnecke, S. Krishnan, J. Patel, M. Zhou, L. Byaruhanga, D. Masinde, M. E. Meneses, A. M. del Campo, C. Crittenden, and K. Goldberg, "DevCAFE 1.0: A Participatory Platform for Assessing Development Initiatives in the Field," in EEE Global Humanitarian Technology Conference (GHTC), 2015.
• M. Zhou, A. Cliff, S. Krishnan, B. Nonnecke, C. Cirittenden, K. Uchino, and K. Goldberg, "M-CAFE 1.0: Motivating and Prioritizing Ongoing Student Feedback During MOOCs and Large on-Campus Courses using Collaborative Filtering," in 16th Annual ACM Conference on Information Technology Education, SIGITE 15, 2015.
• S. Krishnan, A. Garg, S. Patil, C. Lea, G. Hager, P. Abbeel, and K. Goldberg, "Transition State Clustering: Unsupervised Surgical Trajectory Segmentation For Robot Learning," in International Symposium on Robotics Research (ISRR), 2015.
• S. McKinley, A. Garg, S. Sen, R. Kapadia, A. Murali, K. Nichols, S. Lim, S. Patil, P. Abbeel, A. M. Okamura, and K. Goldberg, "A Disposable Haptic Palpation Probe for Locating Subcutaneous Blood Vessels in Robot-Assisted Minimally Invasive Surgery," in IEEE International Conference on Automation Science and Engineering (CASE), 2015.
• M. Laskey, J. Mahler, Z. McCarthy, F. T. Pokorny, S. Patil, J. Van Den Berg, D. Kragic, P. Abbeel, and K. Goldberg, "Multi-Arm Bandit Models for 2D Sample Based Grasp Planning with Uncertainty," in IEEE International Conference on Automation Science and Engineering (CASE), 2015.
• B. Charrow, G. Kahn, S. Patil, S. Liu, K. Goldberg, P. Abbeel, N. Michael, and V. Kumar, "Information-Theoretic Planning with Trajectory Optimization for Dense 3D Mapping," in Robotics: Science and Systems (RSS) Conference, 2015.
• A. Murali, S. Sen, B. Kehoe, A. Garg, S. McFarland, S. Patil, W. D. Boyd, S. Lim, P. Abbeel, and K. Goldberg, "Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms," 2015.
• J. Mahler, S. Patil, B. Kehoe, J. Van Den Berg, M. Ciocarlie, P. Abbeel, and K. Goldberg, "GP-GPIS-OPT: Grasp Planning Under Shape Uncertainty Using Gaussian Process Implicit Surfaces and Sequential Convex Programming," in IEEE International Conference on Robotics and Automation, 2015.
• A. Murali, S. Sen, B. Kehoe, A. Garg, S. McFarland, S. Patil, W. D. Boyd, S. Lim, P. Abbeel, and K. Goldberg, "Learning by Observation for Surgical Subtasks: Multilateral Cutting of 3D Viscoelastic and 2D Orthotropic Tissue Phantoms," in IEEE International Conference on Robotics and Automation, 2015.
• M. Zhou, A. Cliff, A. Huang, S. Krishnan, B. Nonnecke, K. Uchino, S. Joseph, A. Fox, and K. Goldberg, "M-CAFE: Managing MOOC Student Feedback with Collaborative Filtering," in Learning@Scale 2015, 2015.
• A. Godbehere, A. Matsukawa, and K. Goldberg, "Visual Tracking of Human Visitors under Variable-Lighting Conditions for a Responsive Audio Art Installation," in American Control Conference, 2012.
• L. Jaillet, J. Hoffman, J. van den Berg, P. Abbeel, J. M. Porta, and K. Goldberg, "EG-RRT: Environment-Guided Random Trees for Kinodynamic Motion Planning with Uncertainty and Obstacles," in IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2011.
• J. van den Berg, P. Abbeel, and K. Goldberg, "LQG-MP: Optimized Path Planning for Robots with Motion Uncertainty and Imperfect State Information," in Proceedings of Robotics: Science and Systems (RSS), 2010.
• J. van den Berg, S. Miller, D. Duckworth, H. Hu, X. Fu, K. Goldberg, and P. Abbeel, "Superhuman Performance of Surgical Tasks by Robots using Iterative Learning from Human-Guided Demonstrations (Best Medical Robotics Paper Award)," in Proceedings 2010 Conference on Robotics and Automation (ICRA), 2010.
• N. Chentanez, R. Alterovitz, D. Ritchie, L. Cho, K. K. Hauser, K. Goldberg, J. Shewchuk, and J. O'Brien, "Interactive Simulation of Surgical Needle Insertion and Steering," in Proceedings of ACM SIGGRAPH 2009, 2009.
• D. Song, N. Qin, Y. Xu, C. Y. Kim, D. Luneau, and K. Goldberg, "System and algorithms for an autonomous observatory assisting the search for the Ivory-Billed Woodpecker," in Proc. 4th IEEE Intl. Conf. on Automation Science and Engineering (CASE 2008), Piscataway, NJ: IEEE Press, 2008, pp. 200-205.
• J. Xu, V. Duindam, R. Alterovitz, and K. Goldberg, "Motion planning for steerable needles in 3D environments with obstacles using rapidly-exploring random trees and backchaining," in Proc. 4th IEEE Intl. Conf. on Automation Science and Engineering (CASE 2008), Piscataway, NJ: IEEE Press, 2008, pp. 41-46.
• E. Bitton and K. Goldberg, "Hydra: A framework and algorithms for mixed-initiative UAV-assisted search and rescue," in Proc. 4th IEEE Intl. Conf. on Automation Science and Engineering (CASE 2008), Piscataway, NJ: IEEE Press, 2008, pp. 61-66.
• J. Schiff, A. Kulkarni, D. Bazo, V. Duindam, R. Alterovitz, D. Song, and K. Goldberg, "Actuator networks for navigating an unmonitored mobile robot," in Proc. 4th IEEE Intl. Conf. on Automation Science and Engineering (CASE 2008), Piscataway, NJ: IEEE Press, 2008, pp. 53-60.
• V. Duindam, R. Alterovitz, S. S. Sastry, and K. Goldberg, "Screw-based motion planning for bevel-tip flexible needles in 3D environments with obstacles," in Proc. 2008 IEEE Intl. Conf. on Robotics and Automation (ICRA '08): Towards Autonomous Agriculture of Tomorrow Half-Day Workshop, Piscataway, NJ: IEEE Press, 2008, pp. 2483-2488.
• J. Schiff, M. Meingast, D. K. Mulligan, S. S. Sastry, and K. Goldberg, "Respectful cameras: Detecting visual markers in real-time to address privacy concerns," in Proc. 2007 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS '07), Piscataway, NJ: IEEE Press, 2007, pp. 971-978.
• M. T. Zhang and K. Goldberg, "Calibration of wafer handling robots: A fixturing approach," in Proc. 3rd IEEE Intl. Conf. on Automation Science and Engineering (CASE 2007), Piscataway, NJ: IEEE Press, 2007, pp. 255-260.
• O. C. Goemans, M. T. Anderson, K. Goldberg, and A. F. van der Stappen, "Automated feeding of industrial parts with modular blades: Design software, physical experiments, and an improved algorithm," in Proc. 3rd IEEE Intl. Conf. on Automation Science and Engineering (CASE 2007), Piscataway, NJ: IEEE Press, 2007, pp. 318-325.
• M. Fogel, N. Burkhart, H. Ren, J. Schiff, M. Meng, and K. Goldberg, "Automated tracking of pallets in warehouses: Beacon layout and asymmetric ultrasound observation models," in Proc. 3rd IEEE Intl. Conf. on Automation Science and Engineering (CASE 2007), Piscataway, NJ: IEEE Press, 2007, pp. 678-685.
• R. Alterovitz, T. Simeon, and K. Goldberg, "The stochastic motion roadmap: A sampling framework for planning with Markov motion uncertainty," in Proc. Robotics: Science and Systems III (RSS 2007), Cambridge, MA: MIT Press, 2007, pp. 8 pg.
• J. Schiff and K. Goldberg, "Automated intruder tracking using particle filtering and a network of binary motion sensors," in Proc. 2nd IEEE Intl. Conf. on Automation Science and Engineering (CASE 2006), Piscataway, NJ: IEEE Press, 2006, pp. 580-587.
• N. Qin, D. Song, and K. Goldberg, "Aligning windows of live video from an imprecise pan-tilt-zoom robotic camera into a remote panoramic display," in proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06), Piscataway, NJ: IEEE Press, 2006, pp. 3429-3436.
• D. Song, N. Qin, and K. Goldberg, "A minimum variance calibration algorithm for pan-tilt robotic cameras in natural environments," in Proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06), Piscataway, NJ: IEEE Press, 2006, pp. 3449-3456.
• O. C. Goemans, K. Goldberg, and A. F. van der Stappen, "Blades: A new class of geometric primitives for feeding 3D parts on vibratory tracks," in Proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06), Piscataway, NJ: IEEE Press, 2006, pp. 1730-1736.
• P. Cudre-Mauroux, M. Fogel, K. Goldberg, and M. Franklin, ""Sentry pallets" for automated monitoring of spatial constraints: Models and initial experiments (Poster)," in Proc. 2006 IEEE Intl. Conf. on Robotics and Automation (ICRA '06), Piscataway, NJ: IEEE Press, 2006, pp. 4396-4398.
• O. C. Goemans, A. Levandowski, K. Goldberg, and A. F. van der Stappen, "On the design of guillotine traps for vibratory bowl feeders," in Proc. 1st Intl. Conf. on Automation Science and Engineering (ICASE '05), N. Viswanadham and M. Y. Wang, Eds., Piscataway, NJ: IEEE Press, 2005, pp. 79-86.
• D. Song, Q. Hu, N. Qin, and K. Goldberg, "Automating inspection and documentation of remote building construction using a robotic camera," in Proc. 1st Intl. Conf. on Automation Science and Engineering (ICASE '05), N. Viswanadham and M. Y. Wang, Eds., Piscataway, NJ: IEEE Press, 2005, pp. 172-177.
• R. Alterovitz, A. Lim, K. Goldberg, G. S. Chirikjian, and A. M. Okamura, "Steering flexible needles under Markov motion uncertainty," in Proc. IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2005), Piscataway, NJ: IEEE Press, 2005, pp. 1570-1575.
• R. Alterovitz, K. Goldberg, and A. Okamura, "Planning for steerable bevel-tip needle insertion through 2D soft tissue with obstacles," in Proc. 2005 IEEE Intl. Conf. on Robotics and Automation (ICRA '05), Piscataway, NJ: IEEE Press, 2005, pp. 1640-1645.
• R. Alterovitz, K. Goldberg, J. Kurhanewicz, J. Pouliot, and I. C. Hsu, "Image registration for prostate MR spectroscopy using biomechanical modeling and optimization of force and stiffness parameters," in Proc. 26th Annual Intl. Conf. of the IEEE Engineering in Medicine and Biology Society (EMBS '04), Piscataway, NJ: IEEE Press, 2004, pp. 1722-1725.
• K. Goldberg, D. Song, I. Y. Song, J. McGonigal, W. Zheng, and D. Plautz, "Unsupervised scoring for Scalable Internet-based Collaborative Teleoperation," in Proc. 2004 IEEE Intl. Conf. on Robotics and Automation, Vol. 5, Piscataway, NJ: IEEE Press, 2004, pp. 4551-4556.
• D. Song, A. F. van der Stappen, and K. Goldberg, "An exact algorithm optimizing coverage-resolution for automated satellite frame selection," in Proc. 2004 IEEE Intl. Conf. on Robotics and Automation (ICRA '04), Vol. 1, Piscataway, NJ: IEEE Press, 2004, pp. 63-70.
• K. Gopalakrishnan and K. Goldberg, "D-space and deform closure: A framework for holding deformable parts (ICRA 2004 Best Manipulation Paper Award)," in Proc. 2004 IEEE Intl. Conf. on Robotics and Automation (ICRA '04), Vol. 1, Piscataway, NJ: IEEE Press, 2004, pp. 345-350.
• D. Song and K. Goldberg, "The co-opticon: Shared access to a robotic streaming video camera (Demonstration)," in Proc. 11th ACM Intl. Conf. on Multimedia (MULTIMEDIA '03), New York, NY: The Association for Computing Machinery, Inc., 2003, pp. 104-105.
• D. Song, A. Pashkevich, and K. Goldberg, "ShareCam Part II: Approximate and distributed algorithms for a collaboratively controlled robotic Webcam," in Proc. 2003 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2003), Vol. 2, Piscataway, NJ: IEEE Press, 2003, pp. 1087-1093.
• D. Song and K. Goldberg, "ShareCam Part I: Interface, system architecture, and implementation of a collaboratively controlled robotic Webcam," in Proc. 2003 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2003), Vol. 2, Piscataway, NJ: IEEE Press, 2003, pp. 1080-1086.
• R. Alterovitz, K. Goldberg, J. Pouliot, R. Taschereau, and I. C. Hsu, "Sensorless planning for medical needle insertion procedures," in Proc. 2003 IEEE/RSJ Intl. Conf. on Intelligent Robots and Systems (IROS 2003), Vol. 4, Piscataway, NJ: IEEE Press, 2003, pp. 3337-3343.
• K. Gopalakrishnan, M. Zaluzec, R. Koganti, P. Deneszczuk, and K. Goldberg, ""Unilateral" fixturing of sheet metal parts using modular jaws with plane-cone contacts," in Proc. 2003 IEEE Intl. Conf. on Robotics and Automation (ICRA '03), Vol. 3, Piscataway, NJ: IEEE Press, 2003, pp. 3953-3958.
• R. Alterovitz, K. Goldberg, J. Pouliot, R. Taschereau, and I. C. Hsu, "Needle insertion and radioactive seed implantation in human tissues: Simulation and sensitivity analysis," in Proc. 2003 IEEE Intl. Conf. on Robotics and Automation (ICRA '03), Vol. 2, Piscataway, NJ: IEEE Press, 2003, pp. 1793-1799.
• S. Har-Peled, V. Koltun, D. Song, and K. Goldberg, "Efficient algorithms for shared camera control," in Proc. 19th Annual Symp. on Computational Geometry, New York, NY: The Association for Computing Machinery, Inc., 2003, pp. 68-77.
• R. Alterovitz, J. Pouliot, R. Taschereau, I. C. J. Hsu, and K. Goldberg, "Simulating needle insertion and radioactive seed implantation for prostate brachytherapy," in Proc. 11th Annual Conf. on Medicine Meets Virtual Reality (MMVR11), J. D. Westwood, H. M. Hoffman, G. T. Mogel, R. Phillips, R. A. Robb, and D. Stredney, Eds., Studies in Health Technology and Informatics, Vol. 94, Amsterdam, The Netherlands: IOS Press, Inc., 2003, pp. 19-25.
• M. Moll, K. Goldberg, M. A. Erdmann, and R. S. Fearing, "Orienting micro-scale parts with squeeze and roll primitives," in Proc. 2002 IEEE Intl. Conf. on Robotics and Automation, Vol. 2, Piscataway, NJ: IEEE Press, 2002, pp. 1931-1936.

Technical Reports

• I. Stoica, D. Song, R. A. Popa, D. A. Patterson, M. W. Mahoney, R. H. Katz, A. D. Joseph, M. Jordan, J. M. Hellerstein, J. Gonzalez, K. Goldberg, A. Ghodsi, D. E. Culler, and P. Abbeel, "A Berkeley View of Systems Challenges for AI," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2017-159, Oct. 2017.
• K. Goldberg, S. Faridani, and R. Alterovitz, "A New Derivation and Dataset for Fitts' Law of Human Motion," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2013-171, Oct. 2013.
• K. Goldberg and B. Kehoe, "Cloud Robotics and Automation: A Survey of Related Work," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2013-5, Jan. 2013.
• K. Goldberg, T. Roeder, D. Gupta, and C. Perkins, "Eigentaste: A Constant Time Collaborative Filtering Algorithm," EECS Department, University of California, Berkeley, Tech. Rep. UCB/ERL M00/41, Aug. 2000.

Patents

• K. Goldberg, J. Donath, E. Paulos, D. Pescovitz, K. Dobson, M. Lee, A. Levandowski, D. Song, D. Spiegel, and D. Tang, "Remote collaborative control and direction," U.S. Patent 7,937,285. May 2011.
• R. J. Webster, III, A. M. Okamura, N. J. Cowan, G. Chirikjian, K. Goldberg, and R. Alterovitz, "Distal bevel-tip needle control device and algorithm," U.S. Patent 7,822,458. Oct. 2010.
• R. J. Webster, III, A. M. Okamura, N. J. Cowan, G. Chirikjian, K. Y. Goldberg, and R. Alterovitz, "Distal bevel-tip needle control device and algorithm," U.S. Patent Application. May 2006.
• K. Y. Goldberg, "Apparatus and method for recommending to an individual selective information contained within a computer network," U.S. Patent 6,606,624. Aug. 2003.
• K. Y. Goldberg, J. Donath, E. J. Paulos, D. Pescovitz, K. Dobson, M. Lee, A. Levandowski, D. Song, D. Spiegel, and D. Tang, "Remote collaborative control and direction," U.S. Patent Application. April 2002.
• G. H. Kelly, K. Y. Goldberg, J. S. Gee, P. D. Levinson, and S. Fullam, "Television event marking system," U.S. Patent 5,907,322. May 1999.
• R. C. Brost, K. Y. Goldberg, J. Canny, and A. S. Wallack, "Processor and method for developing a set of admissible fixture designs for a workpiece," U.S. Patent 5,856,924. Jan. 1999.
• R. C. Brost, K. Y. Goldberg, A. S. Wallack, and J. Canny, "Processor and method for developing a set of admissible fixture designs for a workpiece," U.S. Patent 5,546,314. Aug. 1996.
• K. Y. Goldberg and M. L. Furst, "Low friction gripper," U.S. Patent 5,186,515. Feb. 1993.
• K. Y. Goldberg and M. L. Furst, "Low friction gripper," U.S. Patent 5,098,145. March 1992.

Talks or presentations

• K. Goldberg, "Putting the Turing into Manufacturing: Recent Developments in the Science of Automation (Plenary Talk)," presented at 2nd Israeli Conference on Robotics, Herzlia, Israel, Nov. 2008.
• K. Goldberg, "Sensitivity Analysis: Unexpected Outcomes in Art and Engineering (Keynote Address)," presented at AAAI Spring Symposium on Creative Intelligent Systems, Stanford University, Palo Alto, CA, March 2008.
• K. Goldberg, "Sensitivity Analysis: Unexpected Outcomes in Art and Engineering (Keynote Address)," presented at AAAI Symposium on Creative Intelligent Systems (CIS 2008), Stanford, CA, March 2008.
• K. Goldberg, "Earth Art with Robots and Networks (Banquet Talk)," presented at Robotics: Science and Systems III, Atlanta, GA, June 2007.
• K. Goldberg, "Putting the Turing into Manufacturing: Automation Science and Recent Developments in Feeding and Fixturing (Plenary Talk)," presented at 2007 IEEE International Conference on Robotics and Automation, Roma, Italy, April 2007.

Masters Reports

• N. Srikanth, "GamesmanROS: A Generalized Game-Playing Robotic System," D. Garcia and K. Goldberg, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2025-128, May 2025.
• S. Sharma, "Vision-Language Representations for Zero-Shot Robotic Perception," K. Goldberg and J. Malik, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2024-96, May 2024.
• S. Mukherjee, "Automated Tree Censusing from Aerial Imagery with Noisy Supervision," K. Goldberg and A. Efros, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2024-81, May 2024.
• K. Shivakumar and K. Goldberg, "Probabilistic State Estimation to Enable Manipulation and Interactive Perception for Robotic Cable Untangling and Object Search," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2023-129, May 2023.
• A. Ganapathi, "Learning to Perceive and Manipulate Deformable Objects by Leveraging Simulation and Cloud Robotics," K. Goldberg, Ed., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2022-153, May 2022.
• M. Presten, "Design and Implementation of Physical Experiments for Evaluation of the AlphaGarden: an Autonomous Polyculture Garden," K. Goldberg, Ed., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2022-95, May 2022.
• P. Sundaresan, "Robotic Untangling and Disentangling of Cables via Learned Manipulation and Recovery Strategies," K. Goldberg and J. Gonzalez, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2021-121, May 2021.
• V. Satish, "Efficient Unicontact Grasping in Cluttered Scenes," K. Goldberg and A. Kanazawa, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2021-112, May 2021.
• S. Paradis, K. Goldberg, and J. Gonzalez, "Intermittent Visual Servoing: Effciently Learning Policies Robust to Instrument Changes for High-precision Surgical Manipulation," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2021-104, May 2021.
• M. Luo, A. Balakrishna, and B. Thananjeyan, "Safe and Sample-Efficient Reinforcement Learning," I. Stoica and K. Goldberg, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2021-101, May 2021.
• S. Devgon, "Automating Kitting Novel 3D Objects into Novel 3D Cavities Using Self-Supervised Learning of SE(3) Transforms," K. Goldberg, Ed., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2021-100, May 2021.
• T. Zhang, Z. McCarthy, O. Jow, D. Lee, X. Chen, K. Goldberg, and P. Abbeel, "Deep Imitation Learning for Complex Manipulation Tasks from Virtual Reality Teleoperation," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2020-190, Dec. 2020.
• H. Li, M. Danielczuk, A. Balakrishna, and K. Goldberg, "Accelerating Grasp Exploration by Leveraging Learned Priors," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2020-129, May 2020.
• R. Hoque, "Robotic Fabric Manipulation with Deep Imitation Learning and Reinforcement Learning in Simulation," K. Goldberg and P. Abbeel, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2020-72, May 2020.
• M. Matl, "Learning Robotic Grasping Policies for Suction Cups and Parallel Jaws in Simulation," R. Bajcsy and K. Goldberg, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2019-119, Aug. 2019.
• X. Ren, D. Wang, M. Laskey, and K. Goldberg, "Extraction of Vehicle Trajectories from Online Video Streams," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2018-44, May 2018.
• K. Goldberg and M. Zhou, "DebateCAFE v1.0: Incentivizing Articulation and Consideration of Adversarial Arguments," EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2017-197, Dec. 2017.
• A. Garg, "Autonomous Palpation for Tumor Localization: Design of a Palpation Probe and Gaussian Process Adaptive Sampling," K. Goldberg, P. Abbeel, and A. Atamturk, Eds., EECS Department, University of California, Berkeley, Tech. Rep. UCB/EECS-2016-140, Aug. 2016.