Karthik Dharmarajan

I'm an incoming Computer Science PhD student at UC Berkeley interested in developing general-purpose robots for open-world manipulation.

Most recently, I completed my M.S. in Computer Science at Stanford, where I worked in the Stanford Vision and Learning Lab with Ruohan Zhang, Jiajun Wu, and Fei-Fei Li. Before Stanford, I earned my B.S. in Electrical Engineering and Computer Science from UC Berkeley and worked in Ken Goldberg's AUTOLAB. I have also interned at Roblox, AWS, and Databricks, working on core infrastructure and large-scale data processing pipelines.

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Close-up portrait of Karthik Dharmarajan

News

  1. Jun 2026 Dream2Flow won the Best Paper Award at the SRRA Workshop at ICRA 2026.
  2. Apr 2026 Invited talk at UC San Diego on “Open-World Robot Manipulation with Video Generation Models.”
  3. Feb 2026 I will be returning to UC Berkeley as a CS PhD student. Go Bears 🐻!

Publications

Choreographing a World of Dynamic Objects

Yanzhe Lyu*, Chen Geng*, Karthik Dharmarajan, Yunzhi Zhang, Hadi Alzayer, Shangzhe Wu, Jiajun Wu

Conference on Computer Vision and Pattern Recognition (CVPR) 2026

Paper arXiv Website Code Summary

Dream2Flow: Bridging Video Generation and Open-World Manipulation with 3D Object Flow

Karthik Dharmarajan, Wenlong Huang, Jiajun Wu, Li Fei-Fei†, Ruohan Zhang†

International Conference on Robotics and Automation (ICRA) 2026

Best Paper Award, SRRA Workshop at ICRA 2026

Paper arXiv Website Code Summary

RoVi-Aug: Robot and Viewpoint Augmentation for Cross-Embodiment Robot Learning

Lawrence Yunliang Chen*, Chenfeng Xu*, Karthik Dharmarajan, Zubair Irshad, Richard Cheng, Kurt Keutzer, Masayoshi Tomizuka, Quan Vuong, Ken Goldberg

Conference on Robot Learning (CoRL) 2024

Oral Presentation, Top 4.3%

Coverage: Tech Xplore

Paper arXiv Website Code Summary
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BOMP: Bin-Optimized Motion Planning

Zachary Tam, Karthik Dharmarajan, Tianshuang Qiu, Yahav Avigal, Jeffrey Ichnowski, Ken Goldberg

International Conference on Intelligent Robots and Systems (IROS) 2024

Paper arXiv
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Mirage: Cross-Embodiment Zero-Shot Policy Transfer with Cross-Painting

Lawrence Yunliang Chen*, Kush Hari*, Karthik Dharmarajan*, Chenfeng Xu, Quan Vuong, Ken Goldberg

Robotics: Science and Systems (RSS) 2024

Paper arXiv Website Code Summary
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STITCH: Augmented Dexterity for Suture Throws Including Thread Coordination and Handoffs

Kush Hari*, Hansoul Kim*, Will Panitch, Kishore Srinivas, Vincent Schorp, Karthik Dharmarajan, Shreya Ganti, Tara Sadjadpour, Ken Goldberg

International Symposium on Medical Robotics (ISMR) 2024

Best Paper Finalist

Coverage: MIT Technology Review

Paper arXiv Website
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ORBIT-Surgical: An Open-Simulation Framework for Learning Surgical Augmented Dexterity

Qinxi Yu*, Masoud Moghani*, Karthik Dharmarajan, Vincent Schorp, Will Panitch, Jingzhou Liu, Kush Hari, Huang Huang, Mayank Mittal, Ken Goldberg, Animesh Garg

International Conference on Robotics and Automation (ICRA) 2024

Coverage: NVIDIA Blog, NVIDIA Developer, The Robot Report, The Decoder

Paper arXiv Website Code Summary
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Robot-Assisted Vascular Shunt Insertion with the dVRK Surgical Robot

Karthik Dharmarajan, Will Panitch, Baiyu Shi, Huang Huang, Lawrence Yunliang Chen, Masoud Moghani, Qinxi Yu, Kush Hari, Thomas Low, Danyal Fer, Animesh Garg, Ken Goldberg

Journal of Medical Robotics Research (JMRR), vol. 8, no. 03n04

Paper Website
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FogROS2-SGC: A ROS2 Cloud Robotics Platform for Secure Global Connectivity

Kaiyuan Chen, Ryan Hoque, Karthik Dharmarajan, Edith LLontop, Simeon Adebola, Jeffrey Ichnowski, John Kubiatowicz, Ken Goldberg

International Conference on Intelligent Robots and Systems (IROS) 2023

arXiv Website Paper Code
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FogROS2: An Adaptive Platform for Cloud and Fog Robotics Using ROS 2

Jeffrey Ichnowski*, Kaiyuan Chen*, Karthik Dharmarajan, Simeon Adebola, Michael Danielczuk, Víctor Mayoral-Vilches, Nikhil Jha, Hugo Zhan, Edith LLontop, Derek Xu, John Kubiatowicz, Ion Stoica, Joseph Gonzalez, Ken Goldberg

International Conference on Robotics and Automation (ICRA) 2023

Coverage: TechCrunch

arXiv Paper Code
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Automating Vascular Shunt Insertion with the dVRK Surgical Robot

Karthik Dharmarajan*, Will Panitch*, Muyan Jiang, Kishore Srinivas, Baiyu Shi, Yahav Avigal, Huang Huang, Thomas Low, Danyal Fer, Ken Goldberg

International Conference on Robotics and Automation (ICRA) 2023

arXiv Paper Website
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A Trimodal Framework for Robot-Assisted Vascular Shunt Insertion When a Supervising Surgeon is Local, Remote, or Unavailable

Karthik Dharmarajan*, Will Panitch*, Baiyu Shi, Huang Huang, Lawrence Yunliang Chen, Thomas Low, Danyal Fer, Ken Goldberg

International Symposium on Medical Robotics (ISMR) 2023

Paper
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Fleet-DAgger: Interactive Robot Fleet Learning with Scalable Human Supervision

Ryan Hoque, Lawrence Yunliang Chen, Satvik Sharma, Karthik Dharmarajan, Brijen Thananjeyan, Pieter Abbeel, Ken Goldberg

Conference on Robot Learning (CoRL) 2022

Oral Presentation, Top 6.5%

Paper arXiv Code Summary
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A Digital Twin Framework for Telesurgery in the Presence of Varying Network Quality of Service

Sophea Bonne*, Will Panitch*, Karthik Dharmarajan*, Kishore Srinivas*, Jerri-Lynn Kincade, Thomas Low, Bruce Knoth, Cregg Cowan, Danyal Fer, Brijen Thananjeyan, Justin Kerr, Jeffrey Ichnowski, Ken Goldberg

International Conference on Automation Science and Engineering (CASE) 2022

Paper Video