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2020 – today
- 2024
[j35]Abhinav Kumar
, Peter Mitrano, Dmitry Berenson:
Constraining Gaussian Process Implicit Surfaces for Robot Manipulation via Dataset Refinemen. IEEE Robotics Autom. Lett. 9(12): 10994-11001 (2024)- [j34]Thomas Power, Dmitry Berenson:
Learning a Generalizable Trajectory Sampling Distribution for Model Predictive Control. IEEE Trans. Robotics 40: 2111-2127 (2024) - [j33]Thomas Power, Dmitry Berenson:
Constrained Stein Variational Trajectory Optimization. IEEE Trans. Robotics 40: 3602-3619 (2024) - [c74]Marco Faroni, Dmitry Berenson:
Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models. ICRA 2024: 2382-2388 - [c73]Peter Mitrano, Dmitry Berenson:
The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables. ICRA 2024: 10888-10894 - [c72]Zixuan Huang, Yating Lin, Fan Yang, Dmitry Berenson:
Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation. ICRA 2024: 16489-16495 - [c71]Yating Lin, Glen Chou, Dmitry Berenson:
Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds. ICRA 2024: 16970-16976 - [c70]Miquel Oller, Dmitry Berenson, Nima Fazeli:
Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control. Robotics: Science and Systems 2024 - [i51]Peter Mitrano, Dmitry Berenson:
The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables. CoRR abs/2403.01611 (2024) - [i50]Marco Faroni, Dmitry Berenson:
Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models. CoRR abs/2403.07638 (2024) - [i49]Yating Lin, Glen Chou, Dmitry Berenson:
Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds. CoRR abs/2403.12245 (2024) - [i48]Zixuan Huang, Yating Lin, Fan Yang, Dmitry Berenson:
Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation. CoRR abs/2403.13085 (2024) - [i47]Miquel Oller, Dmitry Berenson, Nima Fazeli:
Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control. CoRR abs/2405.18214 (2024) - [i46]Sheng Zhong, Nima Fazeli, Dmitry Berenson:
RUMI: Rummaging Using Mutual Information. CoRR abs/2408.10450 (2024) - [i45]Fan Yang, Thomas Power, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin, Dmitry Berenson:
Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints. CoRR abs/2408.13229 (2024) - [i44]Luís Marques, Dmitry Berenson:
Quantifying Aleatoric and Epistemic Dynamics Uncertainty via Local Conformal Calibration. CoRR abs/2409.08249 (2024) - [i43]Abhinav Kumar, Peter Mitrano, Dmitry Berenson:
Constraining Gaussian Process Implicit Surfaces for Robot Manipulation via Dataset Refinement. CoRR abs/2410.00157 (2024) - [i42]Abhinav Kumar, Thomas Power, Fan Yang, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin, Dmitry Berenson:
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation. CoRR abs/2410.00841 (2024) - [i41]Zixuan Huang, Yinong He, Yating Lin, Dmitry Berenson:
Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion. CoRR abs/2410.16571 (2024) - 2023
- [j32]Brad Saund, Sanjiban Choudhury, Siddhartha S. Srinivasa, Dmitry Berenson:
The blindfolded traveler's problem: A search framework for motion planning with contact estimates. Int. J. Robotics Res. 42(4-5): 289-309 (2023) - [j31]Marco Faroni, Dmitry Berenson:
Motion Planning as Online Learning: A Multi-Armed Bandit Approach to Kinodynamic Sampling-Based Planning. IEEE Robotics Autom. Lett. 8(10): 6651-6658 (2023) - [c69]Miquel Oller, Dmitry Berenson, Nima Fazeli:
TactileVAD: Geometric Aliasing-Aware Dynamics for High-Resolution Tactile Control. CoRL 2023: 3083-3099 - [c68]Peter Mitrano, Alex LaGrassa, Oliver Kroemer, Dmitry Berenson:
Focused Adaptation of Dynamics Models for Deformable Object Manipulation. ICRA 2023: 5931-5937 - [c67]Jiayi Pan, Glen Chou, Dmitry Berenson:
Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification. ICRA 2023: 11554-11561 - [c66]Sheng Zhong, Dmitry Berenson, Nima Fazeli:
CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data. Robotics: Science and Systems 2023 - [c65]Mark J. Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli:
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback. Robotics: Science and Systems 2023 - [i40]Jiayi Pan, Glen Chou, Dmitry Berenson:
Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification. CoRR abs/2303.08006 (2023) - [i39]Sheng Zhong, Nima Fazeli, Dmitry Berenson:
CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data. CoRR abs/2305.08042 (2023) - [i38]Mark Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli:
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback. CoRR abs/2305.14470 (2023) - [i37]Thomas Power, Dmitry Berenson:
Constrained Stein Variational Trajectory Optimization. CoRR abs/2308.12110 (2023) - [i36]Marco Faroni, Dmitry Berenson:
Motion Planning as Online Learning: A Multi-Armed Bandit Approach to Kinodynamic Sampling-Based Planning. CoRR abs/2308.13949 (2023) - 2022
- [j30]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Learning temporal logic formulas from suboptimal demonstrations: theory and experiments. Auton. Robots 46(1): 149-174 (2022) - [j29]Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson:
Correction to "Planning With Learned Dynamics: Probabilistic Guarantees on Safety and Reachability Via Lipschitz Constants". IEEE Robotics Autom. Lett. 7(1): 381 (2022) - [j28]Sheng Zhong, Nima Fazeli, Dmitry Berenson:
Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval. IEEE Robotics Autom. Lett. 7(2): 3507-3514 (2022) - [j27]Glen Chou, Hao Wang, Dmitry Berenson:
Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning From Demonstrations. IEEE Robotics Autom. Lett. 7(2): 3827-3834 (2022) - [j26]Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Jens Kober, Xiang Li, Jia Pan, Wenzhen Yuan, Michael Gienger:
Challenges and Outlook in Robotic Manipulation of Deformable Objects. IEEE Robotics Autom. Mag. 29(3): 67-77 (2022) - [c64]Miquel Oller, Mireia Planas, Dmitry Berenson, Nima Fazeli:
Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control. CoRL 2022: 1850-1859 - [c63]Mark Van der Merwe, Dmitry Berenson, Nima Fazeli:
Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing. CoRL 2022: 2052-2061 - [c62]Peter Mitrano, Dmitry Berenson:
Data Augmentation for Manipulation. Robotics: Science and Systems 2022 - [c61]Thomas Power, Dmitry Berenson:
Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection. Robotics: Science and Systems 2022 - [c60]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory. WAFR 2022: 349-367 - [i35]Sheng Zhong, Nima Fazeli, Dmitry Berenson:
Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval. CoRR abs/2201.10434 (2022) - [i34]Peter Mitrano, Dmitry Berenson:
Data Augmentation for Manipulation. CoRR abs/2205.02886 (2022) - [i33]Thomas Power, Dmitry Berenson:
Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection. CoRR abs/2205.04667 (2022) - [i32]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory. CoRR abs/2206.06553 (2022) - [i31]Miquel Oller, Mireia Planas, Dmitry Berenson, Nima Fazeli:
Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control. CoRR abs/2209.13432 (2022) - [i30]Peter Mitrano, Alex LaGrassa, Oliver Kroemer, Dmitry Berenson:
Focused Adaptation of Dynamics Models for Deformable Object Manipulation. CoRR abs/2209.14261 (2022) - [i29]Mark Van der Merwe, Dmitry Berenson, Nima Fazeli:
Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing. CoRR abs/2210.03836 (2022) - 2021
- [j25]Yu-Chi Lin, Dmitry Berenson:
Long-horizon humanoid navigation planning using traversability estimates and previous experience. Auton. Robots 45(6): 937-956 (2021) - [j24]Glen Chou, Dmitry Berenson, Necmiye Ozay:
Learning constraints from demonstrations with grid and parametric representations. Int. J. Robotics Res. 40(10-11) (2021) - [j23]Thomas Power, Dmitry Berenson:
Keep It Simple: Data-Efficient Learning for Controlling Complex Systems With Simple Models. IEEE Robotics Autom. Lett. 6(2): 1184-1191 (2021) - [j22]Sheng Zhong, Zhenyuan Zhang, Nima Fazeli, Dmitry Berenson:
TAMPC: A Controller for Escaping Traps in Novel Environments. IEEE Robotics Autom. Lett. 6(2): 1447-1454 (2021) - [j21]Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson:
Planning With Learned Dynamics: Probabilistic Guarantees on Safety and Reachability via Lipschitz Constants. IEEE Robotics Autom. Lett. 6(3): 5129-5136 (2021) - [j20]Peter Mitrano, Dale McConachie, Dmitry Berenson:
Learning where to trust unreliable models in an unstructured world for deformable object manipulation. Sci. Robotics 6(54): 8170 (2021) - [c59]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems. CDC 2021: 3576-3583 - [c58]Brad Saund, Dmitry Berenson:
CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact. CoRL 2021: 1391-1400 - [c57]Andrew Price, Kun Huang, Dmitry Berenson:
Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation. ICRA 2021: 9572-9578 - [c56]Yixuan Wang, Dale McConachie, Dmitry Berenson:
Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints. ICRA 2021: 14199-14205 - [c55]Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson:
Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations. WAFR 2021: 18-36 - [i28]Cheng Chi, Dmitry Berenson:
Occlusion-robust Deformable Object Tracking without Physics Simulation. CoRR abs/2101.00733 (2021) - [i27]Thomas Power, Dmitry Berenson:
Keep it Simple: Data-efficient Learning for Controlling Complex Systems with Simple Models. CoRR abs/2102.02493 (2021) - [i26]Andrew Price, Kun Huang, Dmitry Berenson:
Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation. CoRR abs/2104.00205 (2021) - [i25]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems. CoRR abs/2104.08695 (2021) - [i24]Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Xiang Li, Jia Pan, Wenzhen Yuan:
Challenges and Outlook in Robotic Manipulation of Deformable Objects. CoRR abs/2105.01767 (2021) - [i23]Brad Saund, Dmitry Berenson:
CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact. CoRR abs/2110.08719 (2021) - [i22]Glen Chou, Hao Wang, Dmitry Berenson:
Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning from Demonstrations. CoRR abs/2112.04612 (2021) - 2020
- [j19]Dale McConachie, Andrew Dobson, Mengyao Ruan, Dmitry Berenson:
Manipulating deformable objects by interleaving prediction, planning, and control. Int. J. Robotics Res. 39(8) (2020) - [j18]Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson:
Robust Humanoid Contact Planning With Learned Zero- and One-Step Capturability Prediction. IEEE Robotics Autom. Lett. 5(2): 2451-2458 (2020) - [j17]Brad Saund, Dmitry Berenson:
Fast Planning Over Roadmaps via Selective Densification. IEEE Robotics Autom. Lett. 5(2): 2873-2880 (2020) - [j16]Dale McConachie, Thomas Power, Peter Mitrano, Dmitry Berenson:
Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces. IEEE Robotics Autom. Lett. 5(2): 3540-3547 (2020) - [j15]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Learning Constraints From Locally-Optimal Demonstrations Under Cost Function Uncertainty. IEEE Robotics Autom. Lett. 5(2): 3682-3690 (2020) - [c54]Glen Chou, Dmitry Berenson, Necmiye Ozay:
Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations. CoRL 2020: 1612-1639 - [c53]Bradley Saund, Dmitry Berenson:
Diverse Plausible Shape Completions from Ambiguous Depth Images. CoRL 2020: 1802-1813 - [c52]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations. Robotics: Science and Systems 2020 - [i21]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Learning Constraints from Locally-Optimal Demonstrations under Cost Function Uncertainty. CoRR abs/2001.09336 (2020) - [i20]Dale McConachie, Andrew Dobson, Mengyao Ruan, Dmitry Berenson:
Manipulating Deformable Objects by Interleaving Prediction, Planning, and Control. CoRR abs/2001.09950 (2020) - [i19]Dale McConachie, Thomas Power, Peter Mitrano, Dmitry Berenson:
Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces. CoRR abs/2001.11051 (2020) - [i18]Brad Saund, Dmitry Berenson:
Fast Planning Over Roadmaps via Selective Densification. CoRR abs/2002.04941 (2020) - [i17]Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson:
Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations. CoRR abs/2005.05421 (2020) - [i16]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations. CoRR abs/2006.02411 (2020) - [i15]Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson:
Planning with Learned Dynamics: Guaranteed Safety and Reachability via Lipschitz Constants. CoRR abs/2010.08993 (2020) - [i14]Sheng Zhong, Zhenyuan Zhang, Nima Fazeli, Dmitry Berenson:
TAMPC: A Controller for Escaping Traps in Novel Environments. CoRR abs/2010.12516 (2020) - [i13]Yixuan Wang, Dale McConachie, Dmitry Berenson:
Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints. CoRR abs/2011.00627 (2020) - [i12]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations. CoRR abs/2011.04141 (2020) - [i11]Brad Saund, Dmitry Berenson:
Diverse Plausible Shape Completions from Ambiguous Depth Images. CoRR abs/2011.09390 (2020)
2010 – 2019
- 2019
- [j14]Anahita Mohseni-Kabir, Changshuo Li, Victoria Wu, Daniel Miller, Benjamin Hylak, Sonia Chernova, Dmitry Berenson, Candace L. Sidner, Charles Rich:
Simultaneous learning of hierarchy and primitives for complex robot tasks. Auton. Robots 43(4): 859-874 (2019) - [j13]Kaiwen Liu, Yang Zhang, Andrew Dobson, Dmitry Berenson:
Asymptotically Near-Optimal Methods for Kinodynamic Planning With Initial State Uncertainty. IEEE Robotics Autom. Lett. 4(2): 2124-2131 (2019) - [c51]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Learning Parametric Constraints in High Dimensions from Demonstrations. CoRL 2019: 1211-1230 - [c50]Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson:
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. ICRA 2019: 5280-5286 - [c49]Cheng Chi, Dmitry Berenson:
Occlusion-robust Deformable Object Tracking without Physics Simulation. IROS 2019: 6443-6450 - [c48]Andrew Price, Linyi Jin, Dmitry Berenson:
Inferring Occluded Geometry Improves Performance When Retrieving an Object from Dense Clutter. ISRR 2019: 376-392 - [c47]Brad Saund, Sanjiban Choudhury, Siddhartha S. Srinivasa, Dmitry Berenson:
The Blindfolded Robot: A Bayesian Approach to Planning with Contact Feedback. ISRR 2019: 443-459 - [i10]Andrew Price, Linyi Jin, Dmitry Berenson:
Inferring Occluded Geometry Improves Performance when Retrieving an Object from Dense Clutter. CoRR abs/1907.08770 (2019) - [i9]Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson:
Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction. CoRR abs/1909.09233 (2019) - [i8]Glen Chou, Necmiye Ozay, Dmitry Berenson:
Learning Parametric Constraints in High Dimensions from Demonstrations. CoRR abs/1910.03477 (2019) - 2018
- [j12]Ruikun Luo, Rafi Hayne, Dmitry Berenson:
Unsupervised early prediction of human reaching for human-robot collaboration in shared workspaces. Auton. Robots 42(3): 631-648 (2018) - [j11]Nikolaus Correll, Kostas E. Bekris, Dmitry Berenson, Oliver Brock, Albert J. Causo, Kris Hauser, Kei Okada, Alberto Rodriguez, Joseph M. Romano, Peter R. Wurman:
Analysis and Observations From the First Amazon Picking Challenge. IEEE Trans Autom. Sci. Eng. 15(1): 172-188 (2018) - [j10]Dale McConachie, Dmitry Berenson:
Estimating Model Utility for Deformable Object Manipulation Using Multiarmed Bandit Methods. IEEE Trans Autom. Sci. Eng. 15(3): 967-979 (2018) - [c46]Mengyao Ruan, Dale McConachie, Dmitry Berenson:
Accounting for Directional Rigidity and Constraints in Control for Manipulation of Deformable Objects without Physical Simulation. IROS 2018: 512-519 - [c45]Yu-Chi Lin, Dmitry Berenson:
Humanoid Navigation Planning in Large Unstructured Environments Using Traversability - Based Segmentation. IROS 2018: 7375-7382 - [c44]Brad Saund, Dmitry Berenson:
Motion Planning for Manipulators in Unknown Environments with Contact Sensing Uncertainty. ISER 2018: 461-474 - [c43]Glen Chou, Dmitry Berenson, Necmiye Ozay:
Learning Constraints from Demonstrations. WAFR 2018: 228-245 - [i7]Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson:
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. CoRR abs/1810.13082 (2018) - [i6]Glen Chou, Dmitry Berenson, Necmiye Ozay:
Learning Constraints from Demonstrations. CoRR abs/1812.07084 (2018) - 2017
- [j9]Mathew DeDonato, Felipe Polido, Kevin Knoedler, Benzun P. Wisely Babu, Nandan Banerjee, Christoper P. Bove, Xiongyi Cui, Ruixiang Du, Perry Franklin, Joshua P. Graff, Peng He, Aaron Jaeger, Lening Li, Dmitry Berenson, Michael A. Gennert, Siyuan Feng, Chenggang Liu, X. Xinjilefu, Joohyung Kim, Christopher G. Atkeson, Xianchao Long, Taskin Padir:
Team WPI-CMU: Achieving Reliable Humanoid Behavior in the DARPA Robotics Challenge. J. Field Robotics 34(2): 381-399 (2017) - [c42]Anahita Mohseni-Kabir, Changshuo Li, Victoria Wu, Daniel Miller, Benjamin Hylak, Sonia Chernova, Dmitry Berenson, Candace L. Sidner, Charles Rich:
SLHAP: Simultaneous Learning of Hierarchy and Primitives. HRI (Companion) 2017: 412 - [c41]Yu-Chi Lin, Dmitry Berenson:
Humanoid navigation in uneven terrain using learned estimates of traversability. Humanoids 2017: 9-16 - [c40]Antonio Umali, Dmitry Berenson:
A framework for robot-assisted doffing of personal protective equipment. ICRA 2017: 2874-2881 - [c39]Dale McConachie, Mengyao Ruan, Dmitry Berenson:
Interleaving Planning and Control for Deformable Object Manipulation. ISRR 2017: 1019-1036 - [i5]Dale McConachie, Dmitry Berenson:
Bandit-Based Model Selection for Deformable Object Manipulation. CoRR abs/1703.10254 (2017) - [i4]Calder Phillips-Grafflin, Dmitry Berenson:
Planning and Resilient Execution of Policies For Manipulation in Contact with Actuation Uncertainty. CoRR abs/1703.10261 (2017) - [i3]Yaohui Guo, Zhaolun Su, Dmitry Berenson, Ding Zhao:
A Kinodynamic Aggressive Trajectory Planner For Narrow Passages. CoRR abs/1709.05443 (2017) - 2016
- [j8]Calder Phillips-Grafflin, Halit Bener Suay, Jim Mainprice, Nicholas Alunni, Daniel M. Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Y. Oh:
From Autonomy to Cooperative Traded Control of Humanoid Manipulation Tasks with Unreliable Communication - Applications to the Valve-turning Task of the DARPA Robotics Challenge and Lessons Learned. J. Intell. Robotic Syst. 82(3-4): 341-361 (2016) - [j7]Jim Mainprice, Rafi Hayne, Dmitry Berenson:
Goal Set Inverse Optimal Control and Iterative Replanning for Predicting Human Reaching Motions in Shared Workspaces. IEEE Trans. Robotics 32(4): 897-908 (2016) - [c38]Will Pryor, Yu-Chi Lin, Dmitry Berenson:
Integrated affordance detection and humanoid locomotion planning. Humanoids 2016: 125-132 - [c37]Yu-Chi Lin, Dmitry Berenson:
Using previous experience for humanoid navigation planning. Humanoids 2016: 794-801 - [c36]Rafi Hayne, Ruikun Luo, Dmitry Berenson:
Considering avoidance and consistency in motion planning for human-robot manipulation in a shared workspace. ICRA 2016: 3948-3954 - [c35]John Morrow, Hee-Sup Shin, Calder Phillips-Grafflin, Sung-Hwan Jang, Jacob Torrey, Riley Larkins, Steven Dang, Yong-Lae Park, Dmitry Berenson:
Improving Soft Pneumatic Actuator fingers through integration of soft sensors, position and force control, and rigid fingernails. ICRA 2016: 5024-5031 - [c34]Changshuo Li, Dmitry Berenson:
Learning Object Orientation Constraints and Guiding Constraints for Narrow Passages from One Demonstration. ISER 2016: 197-210 - [c33]Dale McConachie, Dmitry Berenson:
Bandit-Based Model Selection for Deformable Object Manipulation. WAFR 2016: 704-719 - [c32]Calder Phillips-Grafflin, Dmitry Berenson:
Planning and Resilient Execution of Policies For Manipulation in Contact with Actuation Uncertainty. WAFR 2016: 752-767 - [i2]Nikolaus Correll, Kostas E. Bekris, Dmitry Berenson, Oliver Brock, Albert J. Causo, Kris Hauser, Kei Okada, Alberto Rodriguez, Joseph M. Romano, Peter R. Wurman:
Lessons from the Amazon Picking Challenge. CoRR abs/1601.05484 (2016) - [i1]Jim Mainprice, Rafi Hayne, Dmitry Berenson:
Goal Set Inverse Optimal Control and Iterative Re-planning for Predicting Human Reaching Motions in Shared Workspaces. CoRR abs/1606.02111 (2016) - 2015
- [j6]Máximo A. Roa, Dmitry Berenson, Wes H. Huang:
Mobile Manipulation: Toward Smart Manufacturing [TC Spotlight]. IEEE Robotics Autom. Mag. 22(4): 14-15 (2015) - [c31]Christopher G. Atkeson, Benzun P. Wisely Babu, Nandan Banerjee, Dmitry Berenson, Christoper P. Bove, Xiongyi Cui, Mathew DeDonato, Ruixiang Du, Siyuan Feng, Perry Franklin, Michael A. Gennert, Joshua P. Graff, Peng He, Aaron Jaeger, Joohyung Kim, Kevin Knoedler, Lening Li, Chenggang Liu, Xianchao Long, Taskin Padir, Felipe Polido, G. G. Tighe, X. Xinjilefu:
No falls, no resets: Reliable humanoid behavior in the DARPA robotics challenge. Humanoids 2015: 623-630 - [c30]Jim Mainprice, Rafi Hayne, Dmitry Berenson:
Predicting human reaching motion in collaborative tasks using Inverse Optimal Control and iterative re-planning. ICRA 2015: 885-892 - [c29]Weifu Wang, Dmitry Berenson, Devin J. Balkcom:
An online method for tight-tolerance insertion tasks for string and rope. ICRA 2015: 2488-2495 - [c28]Ruikun Luo, Dmitry Berenson:
A framework for unsupervised online human reaching motion recognition and early prediction. IROS 2015: 2426-2433 - [c27]Calder Phillips-Grafflin, Dmitry Berenson:
Reproducing Expert-Like Motion in Deformable Environments Using Active Learning and IOC. ISRR (1) 2015: 219-235 - 2014
- [j5]Calder Phillips-Grafflin, Nicholas Alunni, Halit Bener Suay, Jim Mainprice, Daniel M. Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Y. Oh:
Toward a user-guided manipulation framework for high-DOF robots with limited communication. Intell. Serv. Robotics 7(3): 121-131 (2014) - [c26]Jim Mainprice, Dmitry Berenson:
Learning Cost Functions for Motion Planning of Human-Robot Collaborative Manipulation Tasks from Human-Human Demonstration. AAAI Fall Symposia 2014 - [c25]Calder Phillips-Grafflin, Dmitry Berenson:
A representation of deformable objects for motion planning with no physical simulation. ICRA 2014: 98-105 - [c24]Nicholas Alunni, Halit Bener Suay, Calder Phillips-Grafflin, Jim Mainprice, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Daniel M. Lofaro, Paul Y. Oh:
DARPA Robotics Challenge: Towards a user-guided manipulation framework for high-DOF robots. ICRA 2014: 2088 - [c23]Jim Mainprice, Calder Phillips-Grafflin, Halit Bener Suay, Nicholas Alunni, Daniel M. Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Y. Oh:
From autonomy to cooperative traded control of humanoid manipulation tasks with unreliable communication: System design and lessons learned. IROS 2014: 3767-3774 - 2013
- [j4]Animesh Garg, Timmy Siauw, Dmitry Berenson, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg:
Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy. IEEE Trans Autom. Sci. Eng. 10(4): 948-956 (2013) - [c22]Jim Mainprice, Dmitry Berenson:
Human-robot collaborative manipulation planning using early prediction of human motion. IROS 2013: 299-306 - [c21]Dmitry Berenson:
Manipulation of deformable objects without modeling and simulating deformation. IROS 2013: 4525-4532 - [c20]Nicholas Alunni, Calder Phillips-Grafflin, Halit Bener Suay, Daniel M. Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Y. Oh:
Toward a user-guided manipulation framework for high-DOF robots with limited communication. TePRA 2013: 1-6 - 2012
- [j3]Siddhartha S. Srinivasa, Dmitry Berenson, Maya Cakmak, Alvaro Collet, Mehmet Remzi Dogar, Anca D. Dragan, Ross A. Knepper, Tim Niemueller, Kyle Strabala, Michael Vande Weghe, Julius Ziegler:
Herb 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home. Proc. IEEE 100(8): 2410-2428 (2012) - [c19]Animesh Garg, Timmy Siauw, Dmitry Berenson, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg:
Initial experiments toward automated robotic implantation of skew-line needle arrangements for HDR brachytherapy. CASE 2012: 26-33 - [c18]Ben Kehoe, Dmitry Berenson, Ken Goldberg:
Estimating part tolerance bounds based on adaptive Cloud-based grasp planning with slip. CASE 2012: 1106-1113 - [c17]Peter Kaiser, Dmitry Berenson, Nikolaus Vahrenkamp, Tamim Asfour, Rüdiger Dillmann, Siddhartha S. Srinivasa:
Constellation - An algorithm for finding robot configurations that satisfy multiple constraints. ICRA 2012: 436-443 - [c16]Ben Kehoe, Dmitry Berenson, Ken Goldberg:
Toward cloud-based grasping with uncertainty in shape: Estimating lower bounds on achieving force closure with zero-slip push grasps. ICRA 2012: 576-583 - [c15]Dmitry Berenson, Pieter Abbeel, Ken Goldberg:
A robot path planning framework that learns from experience. ICRA 2012: 3671-3678 - [c14]Karthik Lakshmanan, Apoorva Sachdev, Ziang Xie, Dmitry Berenson, Ken Goldberg, Pieter Abbeel:
A Constraint-Aware Motion Planning Algorithm for Robotic Folding of Clothes. ISER 2012: 547-562 - 2011
- [b1]Dmitry Berenson:
Constrained Manipulation Planning. Carnegie Mellon University, USA, 2011 - [j2]Dmitry Berenson, Siddhartha S. Srinivasa, James J. Kuffner:
Task Space Regions: A framework for pose-constrained manipulation planning. Int. J. Robotics Res. 30(12): 1435-1460 (2011) - [c13]Dmitry Berenson, Thierry Siméon, Siddhartha S. Srinivasa:
Addressing cost-space chasms in manipulation planning. ICRA 2011: 4561-4568 - 2010
- [j1]Siddhartha S. Srinivasa, Dave Ferguson, Casey Helfrich, Dmitry Berenson, Alvaro Collet, Rosen Diankov, Garratt Gallagher, Geoffrey A. Hollinger, James Kuffner, Michael Vande Weghe:
HERB: a home exploring robotic butler. Auton. Robots 28(1): 5-20 (2010) - [c12]Dmitry Berenson, Siddhartha S. Srinivasa:
Probabilistically complete planning with end-effector pose constraints. ICRA 2010: 2724-2730 - [c11]Alexander Sorokin, Dmitry Berenson, Siddhartha S. Srinivasa, Martial Hebert:
People helping robots helping people: Crowdsourcing for grasping novel objects. IROS 2010: 2117-2122
2000 – 2009
- 2009
- [c10]Dmitry Berenson, Joel E. Chestnutt, Siddhartha S. Srinivasa, James J. Kuffner, Satoshi Kagami:
Pose-constrained whole-body planning using Task Space Region Chains. Humanoids 2009: 181-187 - [c9]Alvaro Collet, Dmitry Berenson, Siddhartha S. Srinivasa, Dave Ferguson:
Object recognition and full pose registration from a single image for robotic manipulation. ICRA 2009: 48-55 - [c8]Dmitry Berenson, Siddhartha S. Srinivasa, Dave Ferguson, Alvaro Collet, James J. Kuffner:
Manipulation planning with Workspace Goal Regions. ICRA 2009: 618-624 - [c7]Dmitry Berenson, Siddhartha S. Srinivasa, Dave Ferguson, James J. Kuffner:
Manipulation planning on constraint manifolds. ICRA 2009: 625-632 - [c6]Dmitry Berenson, Siddhartha S. Srinivasa, James J. Kuffner:
Addressing pose uncertainty in manipulation planning using Task Space Regions. IROS 2009: 1419-1425 - [c5]Nikolaus Vahrenkamp, Dmitry Berenson, Tamim Asfour, James Kuffner, Rüdiger Dillmann:
Humanoid motion planning for dual-arm manipulation and re-grasping tasks. IROS 2009: 2464-2470 - 2008
- [c4]Dmitry Berenson, Siddhartha S. Srinivasa:
Grasp synthesis in cluttered environments for dexterous hands. Humanoids 2008: 189-196 - [c3]Dmitry Berenson, James Kuffner, Howie Choset:
An optimization approach to planning for mobile manipulation. ICRA 2008: 1187-1192 - 2007
- [c2]Dmitry Berenson, Rosen Diankov, Koichi Nishiwaki, Satoshi Kagami, James Kuffner:
Grasp planning in complex scenes. Humanoids 2007: 42-48 - 2005
- [c1]Dmitry Berenson, Nicolás S. Estévez, Hod Lipson:
Hardware Evolution of Analog Circuits for In-situ Robotic Fault-Recovery. Evolvable Hardware 2005: 12-19
Coauthor Index
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