59 citations · 225 across the 39 of their papers we have counts for
42 papers
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…
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…
Motion Planning as Online Learning: A Multi-Armed Bandit Approach to Kinodynamic Sampling-Based Planning
Marco Faroni, Dmitry Berenson
Kinodynamic motion planners allow robots to perform complex manipulation tasks under dynamics constraints or with black-box models. However, they struggle to find high-quality solu…
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.…
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback
Mark Van der Merwe, Youngsun Wi, Dmitry Berenson +1
Reasoning over the interplay between object deformation and force transmission through contact is central to the manipulation of compliant objects. In this paper, we propose Neural…
CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data
Sheng Zhong, Nima Fazeli, Dmitry Berenson
This paper proposes a novel method for estimating the set of plausible poses of a rigid object from a set of points with volumetric information, such as whether each point is in fr…