44 citations · 75 across the 14 of their papers we have counts for
24 papers · 1 filter
Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing
Mark Van der Merwe, Dmitry Berenson, Nima Fazeli
Many manipulation tasks require the robot to control the contact between a grasped compliant tool and the environment, e.g. scraping a frying pan with a spatula. However, modeling…
Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control
Miquel Oller, Mireia Planas, Dmitry Berenson +1
Collocated tactile sensing is a fundamental enabling technology for dexterous manipulation. However, deformable sensors introduce complex dynamics between the robot, grasped object…
Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection
Thomas Power, Dmitry Berenson
We propose a Model Predictive Control (MPC) method for collision-free navigation that uses amortized variational inference to approximate the distribution of optimal control sequen…
Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval
Sheng Zhong, Nima Fazeli, Dmitry Berenson
Retrieving an object from cluttered spaces suchas cupboards, refrigerators, or bins requires tracking objects with limited or no visual sensing. In these scenarios, contact feedbac…
CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact
Brad Saund, Dmitry Berenson
Robots need both visual and contact sensing to effectively estimate the state of their environment. Camera RGBD data provides rich information of the objects surrounding the robot,…
Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation
Andrew Price, Kun Huang, Dmitry Berenson
Despite rapid progress in scene segmentation in recent years, 3D segmentation methods are still limited when there is severe occlusion. The key challenge is estimating the segment…