59 citations · 225 across the 39 of their papers we have counts for
3 papers · 1 filter
Learning Parametric Constraints in High Dimensions from Demonstrations
Glen Chou, Necmiye Ozay, Dmitry Berenson
We present a scalable algorithm for learning parametric constraints in high dimensions from safe expert demonstrations. To reduce the ill-posedness of the constraint recovery probl…
Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction
Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson
Humanoid robots maintain balance and navigate by controlling the contact wrenches applied to the environment. While it is possible to plan dynamically-feasible motion that applies…
Inferring Occluded Geometry Improves Performance when Retrieving an Object from Dense Clutter
Andrew Price, Linyi Jin, Dmitry Berenson
Object search -- the problem of finding a target object in a cluttered scene -- is essential to solve for many robotics applications in warehouse and household environments. Howeve…