44 citations · 76 across the 17 of their papers we have counts for
4 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…