I am a Computer Science PhD. student at the University of Toronto advised by Lueder A. Kahrs. I am currently a member of the MedCVR Lab and PCIGITI Lab where I research on computer vision, 3D scene understanding, and autonomous robotics.

Previously, I worked on pick and place robotics for logistics applications where I developed (and sometimes researched) motion planning and perception software.

2.23mm Diameter Continuum Tools for Suturing in Open Spina Bifida Repair
Arion Law, Nillan Nimal, Paul H. Kang, Radian Gondokaryono, James Drake, Tim Van Mieghem, Thomas Looi
International Conference on Intelligent Robots and Systems (IROS), 2024

Sim2Real Rope Cutting With a Surgical Robot Using Vision-Based Reinforcement Learning
Mustafa Haiderbhai, Radian Gondokaryono, Andrew Wu, Lueder A. Kahrs
IEEE Transactions on Automation Science and Engineering, 2024
Paper / Website

A Real-time Image Stitching Framework for Fetoscopic Field-of-view Expansion
Rowan Honeywell, Radian Gondokaryono, Rory Windrim, Lueder A. Kahrs
International Symposium on Biomedical Imaging (ISBI), 2024
Website

Learning Nonprehensile Dynamic Manipulation:
Sim2real Vision-based Policy with a Surgical Robot
Radian Gondokaryono, Mustafa Haiderbhai, Sai Aneesh Suryadevara, Lueder A. Kahrs
IEEE Robotics and Automation Letters, 2023
Presented at International Conference on Robotics and Automation (ICRA), 2024
Paper / Website

Experimental Trials with a Shared Autonomy Controller Framework and the da Vinci Research Kit:
Pattern Cutting Tasks using Thin Elastic Materials
Paramjit Singh Baweja, Radian Gondokaryono, Lueder A. Kahrs
International Symposium on Medical Robotics, 2023
Paper

Robust Sim2Real Transfer with the da Vinci Research Kit:
A Study On Camera, Lighting, and Physics Domain Randomization
Mustafa Haiderbhai, Radian Gondokaryono, Thomas Looi, James Drake, Lueder A. Kahrs
International Conference on Intelligent Robots and Systems (IROS), 2022
Paper / Website

A Modular ROS-based dVRK Teleoperation Controller Architecture
Radian Gondokaryono, Mustafa Haiderbhai, Adnan Munawar, Thomas Looi, James Drake, Lueder A. Kahrs
Hamlyn Symposium on Medical Robotics, 2022
Paper / Video

Pick and Place Logistic Robotics
Made cool Sort-to-tote and induction robot applications. Architected, created, and maintained motion planning and motion control libraries.
Original Video / Website

Time Optimal Trajectory Optimization with Cartesian Acceleration and Joint Torque Constraints
Reimplemented TOPP-RA in C++ (back then it was only in python) and integrated to a real-time motion planning pipeline. Included Cartesian acceleration constraints as well as joint torque constraints calculated with a lumped inverse dynamics function obtained from dynamic identification of Yaskawa industrial robots.
Original Video

A Convex Optimization-Based Dynamic Model Identification Package for the da Vinci Research Kit
Yan Wang, Radian Gondokaryono, Adnan Munawar, Gregory Scott Fischer
IEEE Robotics and Automation Letters, 2019
Paper / Github

An Approach to Modeling Closed-Loop Kinematic Chain Mechanisms, Applied to Simulations of the da Vinci Surgical System
Ankur Agrawal, Radian Gondokaryono, Adnan Munawar, Christopher J. Nycz, Gregory Scott Fischer
Acta Polytechnica Hungarica, 2019
Paper

Building Robust Deep Neural Networks for Road Sign Detection
Arkar Min Aung, Yousef Fadila, Radian Gondokaryono, Luis Gonzalez
arXiv preprint arXiv:1712.09327, 2017
Paper

Mechanical Validation of an MRI Compatible Stereotactic Neurosurgery Robot in Preparation for Pre-Clinical Trials
Christopher J. Nycz, Radian Gondokaryono, Paulo Carvalho, Nirav Patel, Marek Wartenberg, Julie G. Pilitsis, Gregory Scott Fischer
International Conference on Intelligent Robots and Systems (IROS), 2017
Paper