59 citations · 225 across the 39 of their papers we have counts for
7 papers · 2 filters
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…
Focused Adaptation of Dynamics Models for Deformable Object Manipulation
Peter Mitrano, Alex LaGrassa, Oliver Kroemer +1
In order to efficiently learn a dynamics model for a task in a new environment, one can adapt a model learned in a similar source environment. However, existing adaptation methods…
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory
Glen Chou, Necmiye Ozay, Dmitry Berenson
We present a motion planning algorithm for a class of uncertain control-affine nonlinear systems which guarantees runtime safety and goal reachability when using high-dimensional s…
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…
Data Augmentation for Manipulation
Peter Mitrano, Dmitry Berenson
The success of deep learning depends heavily on the availability of large datasets, but in robotic manipulation there are many learning problems for which such datasets do not exis…
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…