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cs.RO2026
PDDL-ART: Autonomous Symbolic Abstraction From Demonstration For Long-Horizon Robotic Manipulation Using Vision-Language Models
Disha Kamale, Dmitry Berenson
Symbolic planning with PDDL offers a principled framework for long-horizon robot manipulation, but constructing accurate PDDL domain and problem descriptions remains a significant…
cs.RO2026
STEMbot: A Compliant Robot for Under-Canopy Plant Navigation
Zachary Charlick, Nilay Roy Choudhury, Haoyu Ma +2
The scalability of organic agriculture is partially limited by the labor costs associated with monitoring for pests. While drones and rovers are well-suited for agricultural monito…
cs.RO2024
Constrained Stein Variational Trajectory Optimization
Thomas Power, Dmitry Berenson
We present Constrained Stein Variational Trajectory Optimization (CSVTO), an algorithm for performing trajectory optimization with constraints on a set of trajectories in parallel.…