Dmitry Berenson

ORCID

Publication Activity (10 Years)

Years Active: 2005-2024
Publications (10 Years): 115

Top Venues

CoRR

ICRA

IEEE Robotics Autom. Lett.

CoRL

Publications

Marco Faroni, Dmitry Berenson
Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models. ICRA (2024)
Zixuan Huang, Yating Lin, Fan Yang, Dmitry Berenson
Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation. CoRR (2024)
Yating Lin, Glen Chou, Dmitry Berenson
Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds. CoRR (2024)
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)
Marco Faroni, Dmitry Berenson
Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models. CoRR (2024)
Yating Lin, Glen Chou, Dmitry Berenson
Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds. ICRA (2024)
Peter Mitrano, Dmitry Berenson
The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables. ICRA (2024)
Peter Mitrano, Dmitry Berenson
The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables. CoRR (2024)
Thomas Power, Dmitry Berenson
Learning a Generalizable Trajectory Sampling Distribution for Model Predictive Control. IEEE Trans. Robotics 40 (2024)
Miquel Oller, Dmitry Berenson, Nima Fazeli
Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control. CoRR (2024)
Thomas Power, Dmitry Berenson
Constrained Stein Variational Trajectory Optimization. IEEE Trans. Robotics 40 (2024)
Jiayi Pan, Glen Chou, Dmitry Berenson
Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification. CoRR (2023)
Thomas Power, Dmitry Berenson
Constrained Stein Variational Trajectory Optimization. CoRR (2023)
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)
Mark Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli
Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback. CoRR (2023)
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) (2023)
Sheng Zhong, Nima Fazeli, Dmitry Berenson
CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data. CoRR (2023)
Marco Faroni, Dmitry Berenson
Motion Planning as Online Learning: A Multi-Armed Bandit Approach to Kinodynamic Sampling-Based Planning. CoRR (2023)
Sheng Zhong, Dmitry Berenson, Nima Fazeli
CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data. Robotics: Science and Systems (2023)
Peter Mitrano, Alex LaGrassa, Oliver Kroemer, Dmitry Berenson
Focused Adaptation of Dynamics Models for Deformable Object Manipulation. ICRA (2023)
Jiayi Pan, Glen Chou, Dmitry Berenson
Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification. ICRA (2023)
Miquel Oller, Dmitry Berenson, Nima Fazeli
TactileVAD: Geometric Aliasing-Aware Dynamics for High-Resolution Tactile Control. CoRL (2023)
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) (2023)
Sheng Zhong, Nima Fazeli, Dmitry Berenson
Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval. IEEE Robotics Autom. Lett. 7 (2) (2022)
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) (2022)
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) (2022)
Sheng Zhong, Nima Fazeli, Dmitry Berenson
Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval. CoRR (2022)
Miquel Oller, Mireia Planas, Dmitry Berenson, Nima Fazeli
Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control. CoRR (2022)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory. CoRR (2022)
Mark Van der Merwe, Dmitry Berenson, Nima Fazeli
Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing. CoRR (2022)
Thomas Power, Dmitry Berenson
Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection. CoRR (2022)
Peter Mitrano, Dmitry Berenson
Data Augmentation for Manipulation. Robotics: Science and Systems (2022)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Learning temporal logic formulas from suboptimal demonstrations: theory and experiments. Auton. Robots 46 (1) (2022)
Peter Mitrano, Dmitry Berenson
Data Augmentation for Manipulation. CoRR (2022)
Glen Chou, Hao Wang, Dmitry Berenson
Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning From Demonstrations. IEEE Robotics Autom. Lett. 7 (2) (2022)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory. WAFR (2022)
Peter Mitrano, Alex LaGrassa, Oliver Kroemer, Dmitry Berenson
Focused Adaptation of Dynamics Models for Deformable Object Manipulation. CoRR (2022)
Mark Van der Merwe, Dmitry Berenson, Nima Fazeli
Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing. CoRL (2022)
Thomas Power, Dmitry Berenson
Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection. Robotics: Science and Systems (2022)
Miquel Oller, Mireia Planas, Dmitry Berenson, Nima Fazeli
Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control. CoRL (2022)
Sheng Zhong, Zhenyuan Zhang, Nima Fazeli, Dmitry Berenson
TAMPC: A Controller for Escaping Traps in Novel Environments. IEEE Robotics Autom. Lett. 6 (2) (2021)
Brad Saund, Dmitry Berenson
CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact. CoRL (2021)
Cheng Chi, Dmitry Berenson
Occlusion-robust Deformable Object Tracking without Physics Simulation. CoRR (2021)
Glen Chou, Dmitry Berenson, Necmiye Ozay
Learning constraints from demonstrations with grid and parametric representations. Int. J. Robotics Res. 40 (10-11) (2021)
Yu-Chi Lin, Dmitry Berenson
Long-horizon humanoid navigation planning using traversability estimates and previous experience. Auton. Robots 45 (6) (2021)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems. CoRR (2021)
Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations. WAFR (2021)
Yixuan Wang, Dale McConachie, Dmitry Berenson
Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints. ICRA (2021)
Thomas Power, Dmitry Berenson
Keep It Simple: Data-Efficient Learning for Controlling Complex Systems With Simple Models. IEEE Robotics Autom. Lett. 6 (2) (2021)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems. CDC (2021)
Andrew Price, Kun Huang, Dmitry Berenson
Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation. ICRA (2021)
Andrew Price, Kun Huang, Dmitry Berenson
Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation. CoRR (2021)
Thomas Power, Dmitry Berenson
Keep it Simple: Data-efficient Learning for Controlling Complex Systems with Simple Models. CoRR (2021)
Peter Mitrano, Dale McConachie, Dmitry Berenson
Learning where to trust unreliable models in an unstructured world for deformable object manipulation. Sci. Robotics 6 (54) (2021)
Brad Saund, Dmitry Berenson
CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact. CoRR (2021)
Glen Chou, Hao Wang, Dmitry Berenson
Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning from Demonstrations. CoRR (2021)
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) (2021)
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 (2021)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations. Robotics: Science and Systems (2020)
Brad Saund, Dmitry Berenson
Fast Planning Over Roadmaps via Selective Densification. CoRR (2020)
Yixuan Wang, Dale McConachie, Dmitry Berenson
Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints. CoRR (2020)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations. CoRR (2020)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Learning Constraints from Locally-Optimal Demonstrations under Cost Function Uncertainty. CoRR (2020)
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) (2020)
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) (2020)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations. CoRR (2020)
Brad Saund, Dmitry Berenson
Fast Planning Over Roadmaps via Selective Densification. IEEE Robotics Autom. Lett. 5 (2) (2020)
Brad Saund, Dmitry Berenson
Diverse Plausible Shape Completions from Ambiguous Depth Images. CoRR (2020)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Learning Constraints From Locally-Optimal Demonstrations Under Cost Function Uncertainty. IEEE Robotics Autom. Lett. 5 (2) (2020)
Dale McConachie, Thomas Power, Peter Mitrano, Dmitry Berenson
Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces. CoRR (2020)
Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
Planning with Learned Dynamics: Guaranteed Safety and Reachability via Lipschitz Constants. CoRR (2020)
Dale McConachie, Andrew Dobson, Mengyao Ruan, Dmitry Berenson
Manipulating deformable objects by interleaving prediction, planning, and control. Int. J. Robotics Res. 39 (8) (2020)
Dale McConachie, Andrew Dobson, Mengyao Ruan, Dmitry Berenson
Manipulating Deformable Objects by Interleaving Prediction, Planning, and Control. CoRR (2020)
Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations. CoRR (2020)
Sheng Zhong, Zhenyuan Zhang, Nima Fazeli, Dmitry Berenson
TAMPC: A Controller for Escaping Traps in Novel Environments. CoRR (2020)
Glen Chou, Dmitry Berenson, Necmiye Ozay
Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations. CoRL (2020)
Bradley Saund, Dmitry Berenson
Diverse Plausible Shape Completions from Ambiguous Depth Images. CoRL (2020)
Andrew Price, Linyi Jin, Dmitry Berenson
Inferring Occluded Geometry Improves Performance When Retrieving an Object from Dense Clutter. ISRR (2019)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Learning Parametric Constraints in High Dimensions from Demonstrations. CoRL (2019)
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) (2019)
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) (2019)
Andrew Price, Linyi Jin, Dmitry Berenson
Inferring Occluded Geometry Improves Performance when Retrieving an Object from Dense Clutter. CoRR (2019)
Glen Chou, Necmiye Ozay, Dmitry Berenson
Learning Parametric Constraints in High Dimensions from Demonstrations. CoRR (2019)
Cheng Chi, Dmitry Berenson
Occlusion-robust Deformable Object Tracking without Physics Simulation. IROS (2019)
Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson
Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction. CoRR (2019)
Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. ICRA (2019)
Brad Saund, Sanjiban Choudhury, Siddhartha S. Srinivasa, Dmitry Berenson
The Blindfolded Robot: A Bayesian Approach to Planning with Contact Feedback. ISRR (2019)
Ruikun Luo, Rafi Hayne, Dmitry Berenson
Unsupervised early prediction of human reaching for human-robot collaboration in shared workspaces. Auton. Robots 42 (3) (2018)
Dale McConachie, Dmitry Berenson
Estimating Model Utility for Deformable Object Manipulation Using Multiarmed Bandit Methods. IEEE Trans Autom. Sci. Eng. 15 (3) (2018)
Mengyao Ruan, Dale McConachie, Dmitry Berenson
Accounting for Directional Rigidity and Constraints in Control for Manipulation of Deformable Objects without Physical Simulation. IROS (2018)
Brad Saund, Dmitry Berenson
Motion Planning for Manipulators in Unknown Environments with Contact Sensing Uncertainty. ISER (2018)
Glen Chou, Dmitry Berenson, Necmiye Ozay
Learning Constraints from Demonstrations. CoRR (2018)
Yu-Chi Lin, Dmitry Berenson
Humanoid Navigation Planning in Large Unstructured Environments Using Traversability - Based Segmentation. IROS (2018)
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) (2018)
Glen Chou, Dmitry Berenson, Necmiye Ozay
Learning Constraints from Demonstrations. WAFR (2018)
Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson
Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. CoRR (2018)
Yu-Chi Lin, Dmitry Berenson
Humanoid navigation in uneven terrain using learned estimates of traversability. Humanoids (2017)
Yaohui Guo, Zhaolun Su, Dmitry Berenson, Ding Zhao
A Kinodynamic Aggressive Trajectory Planner For Narrow Passages. CoRR (2017)
Calder Phillips-Grafflin, Dmitry Berenson
Planning and Resilient Execution of Policies For Manipulation in Contact with Actuation Uncertainty. CoRR (2017)
Dale McConachie, Dmitry Berenson
Bandit-Based Model Selection for Deformable Object Manipulation. CoRR (2017)

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Publication Activity (10 Years)

Top Topics

Top Venues

Dmitry Berenson