Dmitry Berenson

179 papers A* 28A 10C 8Misc 7Journal 101Unranked 24

Year	Rank	Type	Title / Venue / Authors
2026	J	`jnl`	Lies We Can Trust: Quantifying Action Uncertainty With Inaccurate Stochastic Dynamics Through Conformalized Nonholonomic Lie groups. IEEE Robotics Autom. Lett. Luís Marques, Maani Ghaffari, Dmitry Berenson
2026	J	`jnl`	Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing. IEEE Robotics Autom. Lett. Mark Van der Merwe, Kei Ota, Dmitry Berenson, Nima Fazeli, Devesh K. Jha
2025	J	`jnl`	AVO: Amortized Value Optimization for Contact Mode Switching in Multi-Finger Manipulation. CoRR Adam Hung, Fan Yang, Abhinav Kumar, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin, Dmitry Berenson
2025	J	`jnl`	AnoF-Diff: One-Step Diffusion-Based Anomaly Detection for Forceful Tool Use. CoRR Yating Lin, Zixuan Huang, Fan Yang, Dmitry Berenson
2025	J	`jnl`	Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation. CoRR Abhinav Kumar, Fan Yang, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin, Dmitry Berenson
2025	A*	`conf`	Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation. ICRA Abhinav Kumar, Thomas Power, Fan Yang, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin, Dmitry Berenson
2025	J	`jnl`	Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization. CoRR Mark Van der Merwe, Miquel Oller, Dmitry Berenson, Nima Fazeli
2025	J	`jnl`	Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization. IEEE Robotics Autom. Lett. Mark Van der Merwe, Miquel Oller, Dmitry Berenson, Nima Fazeli
2025	A*	`conf`	Implicit Contact Diffuser: Sequential Contact Reasoning With Latent Point Cloud Diffusion. ICRA Zixuan Huang, Yinong He, Yating Lin, Dmitry Berenson
2025	A*	`conf`	Language-Guided Object Search in Agricultural Environments. ICRA Advaith Balaji, Saket Pradhan, Dmitry Berenson
2025	J	`jnl`	Language-Guided Object Search in Agricultural Environments. CoRR Advaith Balaji, Saket Pradhan, Dmitry Berenson
2025	J	`jnl`	Leveraging Neural Descriptor Fields for Learning Contact-Aware Dynamic Recovery. CoRR Fan Yang, Zixuan Huang, Abhinav Kumar, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin, Dmitry Berenson
2025	J	`jnl`	Lies We Can Trust: Quantifying Action Uncertainty with Inaccurate Stochastic Dynamics through Conformalized Nonholonomic Lie Groups. CoRR Luís Marques, Maani Ghaffari, Dmitry Berenson
2025	J	`jnl`	Multi-Finger Manipulation via Trajectory Optimization With Differentiable Rolling and Geometric Constraints. IEEE Robotics Autom. Lett. Fan Yang, Thomas Power, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin, Dmitry Berenson
2025	J	`jnl`	Planning-Query-Guided Model Generation for Model-Based Deformable Object Manipulation. CoRR Alex LaGrassa, Zixuan Huang, Dmitry Berenson, Oliver Kroemer
2025	J	`jnl`	RUMI: Rummaging Using Mutual Information. IEEE Trans. Robotics Sheng Zhong, Nima Fazeli, Dmitry Berenson
2025	J	`jnl`	Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing. CoRR Mark Van der Merwe, Kei Ota, Dmitry Berenson, Nima Fazeli, Devesh K. Jha
2025	J	`jnl`	Unified Multimodal Diffusion Forcing for Forceful Manipulation. CoRR Zixuan Huang, Huaidian Hou, Dmitry Berenson
2024	J	`jnl`	Constrained Stein Variational Trajectory Optimization. IEEE Trans. Robotics Thomas Power, Dmitry Berenson
2024	J	`jnl`	Constraining Gaussian Process Implicit Surfaces for Robot Manipulation via Dataset Refinemen. IEEE Robotics Autom. Lett. Abhinav Kumar, Peter Mitrano, Dmitry Berenson
2024	J	`jnl`	Constraining Gaussian Process Implicit Surfaces for Robot Manipulation via Dataset Refinement. CoRR Abhinav Kumar, Peter Mitrano, Dmitry Berenson
2024	J	`jnl`	Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation. CoRR Abhinav Kumar, Thomas Power, Fan Yang, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin, Dmitry Berenson
2024	J	`jnl`	Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion. CoRR Zixuan Huang, Yinong He, Yating Lin, Dmitry Berenson
2024	A*	`conf`	Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds. ICRA Yating Lin, Glen Chou, Dmitry Berenson
2024	J	`jnl`	Improving Out-of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds. CoRR Yating Lin, Glen Chou, Dmitry Berenson
2024	J	`jnl`	Learning a Generalizable Trajectory Sampling Distribution for Model Predictive Control. IEEE Trans. Robotics Thomas Power, Dmitry Berenson
2024	J	`jnl`	Multi-finger Manipulation via Trajectory Optimization with Differentiable Rolling and Geometric Constraints. CoRR Fan Yang, Thomas Power, Sergio Aguilera Marinovic, Soshi Iba, Rana Soltani-Zarrin, Dmitry Berenson
2024	A*	`conf`	Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models. ICRA Marco Faroni, Dmitry Berenson
2024	J	`jnl`	Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models. CoRR Marco Faroni, Dmitry Berenson
2024	J	`jnl`	Quantifying Aleatoric and Epistemic Dynamics Uncertainty via Local Conformal Calibration. CoRR Luís Marques, Dmitry Berenson
2024	J	`jnl`	RUMI: Rummaging Using Mutual Information. CoRR Sheng Zhong, Nima Fazeli, Dmitry Berenson
2024	A*	`conf`	Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation. ICRA Zixuan Huang, Yating Lin, Fan Yang, Dmitry Berenson
2024	J	`jnl`	Subgoal Diffuser: Coarse-to-fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation. CoRR Zixuan Huang, Yating Lin, Fan Yang, Dmitry Berenson
2024	—	`conf`	Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control. Robotics: Science and Systems Miquel Oller, Dmitry Berenson, Nima Fazeli
2024	J	`jnl`	Tactile-Driven Non-Prehensile Object Manipulation via Extrinsic Contact Mode Control. CoRR Miquel Oller, Dmitry Berenson, Nima Fazeli
2024	A*	`conf`	The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables. ICRA Peter Mitrano, Dmitry Berenson
2024	J	`jnl`	The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables. CoRR Peter Mitrano, Dmitry Berenson
2023	—	`conf`	CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data. Robotics: Science and Systems Sheng Zhong, Dmitry Berenson, Nima Fazeli
2023	J	`jnl`	CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data. CoRR Sheng Zhong, Nima Fazeli, Dmitry Berenson
2023	J	`jnl`	Constrained Stein Variational Trajectory Optimization. CoRR Thomas Power, Dmitry Berenson
2023	A*	`conf`	Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification. ICRA Jiayi Pan, Glen Chou, Dmitry Berenson
2023	J	`jnl`	Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification. CoRR Jiayi Pan, Glen Chou, Dmitry Berenson
2023	A*	`conf`	Focused Adaptation of Dynamics Models for Deformable Object Manipulation. ICRA Peter Mitrano, Alex LaGrassa, Oliver Kroemer, Dmitry Berenson
2023	—	`conf`	Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback. Robotics: Science and Systems Mark J. Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli
2023	J	`jnl`	Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback. CoRR Mark Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli
2023	J	`jnl`	Motion Planning as Online Learning: A Multi-Armed Bandit Approach to Kinodynamic Sampling-Based Planning. CoRR Marco Faroni, Dmitry Berenson
2023	J	`jnl`	Motion Planning as Online Learning: A Multi-Armed Bandit Approach to Kinodynamic Sampling-Based Planning. IEEE Robotics Autom. Lett. Marco Faroni, Dmitry Berenson
2023	Misc	`conf`	TactileVAD: Geometric Aliasing-Aware Dynamics for High-Resolution Tactile Control. CoRL Miquel Oller, Dmitry Berenson, Nima Fazeli
2023	J	`jnl`	The blindfolded traveler's problem: A search framework for motion planning with contact estimates. Int. J. Robotics Res. Brad Saund, Sanjiban Choudhury, Siddhartha S. Srinivasa, Dmitry Berenson
2022	J	`jnl`	Challenges and Outlook in Robotic Manipulation of Deformable Objects. IEEE Robotics Autom. Mag. 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
2022	J	`jnl`	Correction to "Planning With Learned Dynamics: Probabilistic Guarantees on Safety and Reachability Via Lipschitz Constants". IEEE Robotics Autom. Lett. Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
2022	—	`conf`	Data Augmentation for Manipulation. Robotics: Science and Systems Peter Mitrano, Dmitry Berenson
2022	J	`jnl`	Data Augmentation for Manipulation. CoRR Peter Mitrano, Dmitry Berenson
2022	J	`jnl`	Focused Adaptation of Dynamics Models for Deformable Object Manipulation. CoRR Peter Mitrano, Alex LaGrassa, Oliver Kroemer, Dmitry Berenson
2022	J	`jnl`	Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning From Demonstrations. IEEE Robotics Autom. Lett. Glen Chou, Hao Wang, Dmitry Berenson
2022	J	`jnl`	Learning temporal logic formulas from suboptimal demonstrations: theory and experiments. Auton. Robots Glen Chou, Necmiye Ozay, Dmitry Berenson
2022	Misc	`conf`	Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing. CoRL Mark Van der Merwe, Dmitry Berenson, Nima Fazeli
2022	J	`jnl`	Learning the Dynamics of Compliant Tool-Environment Interaction for Visuo-Tactile Contact Servoing. CoRR Mark Van der Merwe, Dmitry Berenson, Nima Fazeli
2022	Misc	`conf`	Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control. CoRL Miquel Oller, Mireia Planas, Dmitry Berenson, Nima Fazeli
2022	J	`jnl`	Manipulation via Membranes: High-Resolution and Highly Deformable Tactile Sensing and Control. CoRR Miquel Oller, Mireia Planas, Dmitry Berenson, Nima Fazeli
2022	C	`conf`	Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory. WAFR Glen Chou, Necmiye Ozay, Dmitry Berenson
2022	J	`jnl`	Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory. CoRR Glen Chou, Necmiye Ozay, Dmitry Berenson
2022	J	`jnl`	Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval. CoRR Sheng Zhong, Nima Fazeli, Dmitry Berenson
2022	J	`jnl`	Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval. IEEE Robotics Autom. Lett. Sheng Zhong, Nima Fazeli, Dmitry Berenson
2022	—	`conf`	Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection. Robotics: Science and Systems Thomas Power, Dmitry Berenson
2022	J	`jnl`	Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection. CoRR Thomas Power, Dmitry Berenson
2021	Misc	`conf`	CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact. CoRL Brad Saund, Dmitry Berenson
2021	J	`jnl`	CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact. CoRR Brad Saund, Dmitry Berenson
2021	J	`jnl`	Challenges and Outlook in Robotic Manipulation of Deformable Objects. CoRR Jihong Zhu, Andrea Cherubini, Claire Dune, David Navarro-Alarcon, Farshid Alambeigi, Dmitry Berenson, Fanny Ficuciello, Kensuke Harada, Xiang Li, Jia Pan, Wenzhen Yuan
2021	A*	`conf`	Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation. ICRA Andrew Price, Kun Huang, Dmitry Berenson
2021	J	`jnl`	Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation. CoRR Andrew Price, Kun Huang, Dmitry Berenson
2021	J	`jnl`	Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning from Demonstrations. CoRR Glen Chou, Hao Wang, Dmitry Berenson
2021	C	`conf`	Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations. WAFR Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
2021	J	`jnl`	Keep It Simple: Data-Efficient Learning for Controlling Complex Systems With Simple Models. IEEE Robotics Autom. Lett. Thomas Power, Dmitry Berenson
2021	J	`jnl`	Keep it Simple: Data-efficient Learning for Controlling Complex Systems with Simple Models. CoRR Thomas Power, Dmitry Berenson
2021	J	`jnl`	Learning constraints from demonstrations with grid and parametric representations. Int. J. Robotics Res. Glen Chou, Dmitry Berenson, Necmiye Ozay
2021	J	`jnl`	Learning where to trust unreliable models in an unstructured world for deformable object manipulation. Sci. Robotics Peter Mitrano, Dale McConachie, Dmitry Berenson
2021	J	`jnl`	Long-horizon humanoid navigation planning using traversability estimates and previous experience. Auton. Robots Yu-Chi Lin, Dmitry Berenson
2021	—	`conf`	Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems. CDC Glen Chou, Necmiye Ozay, Dmitry Berenson
2021	J	`jnl`	Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems. CoRR Glen Chou, Necmiye Ozay, Dmitry Berenson
2021	J	`jnl`	Occlusion-robust Deformable Object Tracking without Physics Simulation. CoRR Cheng Chi, Dmitry Berenson
2021	J	`jnl`	Planning With Learned Dynamics: Probabilistic Guarantees on Safety and Reachability via Lipschitz Constants. IEEE Robotics Autom. Lett. Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
2021	J	`jnl`	TAMPC: A Controller for Escaping Traps in Novel Environments. IEEE Robotics Autom. Lett. Sheng Zhong, Zhenyuan Zhang, Nima Fazeli, Dmitry Berenson
2021	A*	`conf`	Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints. ICRA Yixuan Wang, Dale McConachie, Dmitry Berenson
2020	Misc	`conf`	Diverse Plausible Shape Completions from Ambiguous Depth Images. CoRL Bradley Saund, Dmitry Berenson
2020	J	`jnl`	Diverse Plausible Shape Completions from Ambiguous Depth Images. CoRR Brad Saund, Dmitry Berenson
2020	—	`conf`	Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations. Robotics: Science and Systems Glen Chou, Necmiye Ozay, Dmitry Berenson
2020	J	`jnl`	Explaining Multi-stage Tasks by Learning Temporal Logic Formulas from Suboptimal Demonstrations. CoRR Glen Chou, Necmiye Ozay, Dmitry Berenson
2020	J	`jnl`	Fast Planning Over Roadmaps via Selective Densification. CoRR Brad Saund, Dmitry Berenson
2020	J	`jnl`	Fast Planning Over Roadmaps via Selective Densification. IEEE Robotics Autom. Lett. Brad Saund, Dmitry Berenson
2020	J	`jnl`	Inferring Obstacles and Path Validity from Visibility-Constrained Demonstrations. CoRR Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
2020	J	`jnl`	Learning Constraints From Locally-Optimal Demonstrations Under Cost Function Uncertainty. IEEE Robotics Autom. Lett. Glen Chou, Necmiye Ozay, Dmitry Berenson
2020	J	`jnl`	Learning Constraints from Locally-Optimal Demonstrations under Cost Function Uncertainty. CoRR Glen Chou, Necmiye Ozay, Dmitry Berenson
2020	J	`jnl`	Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces. CoRR Dale McConachie, Thomas Power, Peter Mitrano, Dmitry Berenson
2020	J	`jnl`	Learning When to Trust a Dynamics Model for Planning in Reduced State Spaces. IEEE Robotics Autom. Lett. Dale McConachie, Thomas Power, Peter Mitrano, Dmitry Berenson
2020	J	`jnl`	Manipulating Deformable Objects by Interleaving Prediction, Planning, and Control. CoRR Dale McConachie, Andrew Dobson, Mengyao Ruan, Dmitry Berenson
2020	J	`jnl`	Manipulating deformable objects by interleaving prediction, planning, and control. Int. J. Robotics Res. Dale McConachie, Andrew Dobson, Mengyao Ruan, Dmitry Berenson
2020	J	`jnl`	Planning with Learned Dynamics: Guaranteed Safety and Reachability via Lipschitz Constants. CoRR Craig Knuth, Glen Chou, Necmiye Ozay, Dmitry Berenson
2020	J	`jnl`	Robust Humanoid Contact Planning With Learned Zero- and One-Step Capturability Prediction. IEEE Robotics Autom. Lett. Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson
2020	J	`jnl`	TAMPC: A Controller for Escaping Traps in Novel Environments. CoRR Sheng Zhong, Zhenyuan Zhang, Nima Fazeli, Dmitry Berenson
2020	J	`jnl`	Tracking Partially-Occluded Deformable Objects while Enforcing Geometric Constraints. CoRR Yixuan Wang, Dale McConachie, Dmitry Berenson
2020	Misc	`conf`	Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations. CoRL Glen Chou, Dmitry Berenson, Necmiye Ozay
2020	J	`jnl`	Uncertainty-Aware Constraint Learning for Adaptive Safe Motion Planning from Demonstrations. CoRR Glen Chou, Necmiye Ozay, Dmitry Berenson
2019	J	`jnl`	Asymptotically Near-Optimal Methods for Kinodynamic Planning With Initial State Uncertainty. IEEE Robotics Autom. Lett. Kaiwen Liu, Yang Zhang, Andrew Dobson, Dmitry Berenson
2019	A*	`conf`	Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. ICRA Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson
2019	C	`conf`	Inferring Occluded Geometry Improves Performance When Retrieving an Object from Dense Clutter. ISRR Andrew Price, Linyi Jin, Dmitry Berenson
2019	J	`jnl`	Inferring Occluded Geometry Improves Performance when Retrieving an Object from Dense Clutter. CoRR Andrew Price, Linyi Jin, Dmitry Berenson
2019	Misc	`conf`	Learning Parametric Constraints in High Dimensions from Demonstrations. CoRL Glen Chou, Necmiye Ozay, Dmitry Berenson
2019	J	`jnl`	Learning Parametric Constraints in High Dimensions from Demonstrations. CoRR Glen Chou, Necmiye Ozay, Dmitry Berenson
2019	A	`conf`	Occlusion-robust Deformable Object Tracking without Physics Simulation. IROS Cheng Chi, Dmitry Berenson
2019	J	`jnl`	Robust Humanoid Contact Planning with Learned Zero- and One-Step Capturability Prediction. CoRR Yu-Chi Lin, Ludovic Righetti, Dmitry Berenson
2019	J	`jnl`	Simultaneous learning of hierarchy and primitives for complex robot tasks. Auton. Robots Anahita Mohseni-Kabir, Changshuo Li, Victoria Wu, Daniel Miller, Benjamin Hylak, Sonia Chernova, Dmitry Berenson, Candace L. Sidner, Charles Rich
2019	C	`conf`	The Blindfolded Robot: A Bayesian Approach to Planning with Contact Feedback. ISRR Brad Saund, Sanjiban Choudhury, Siddhartha S. Srinivasa, Dmitry Berenson
2018	A	`conf`	Accounting for Directional Rigidity and Constraints in Control for Manipulation of Deformable Objects without Physical Simulation. IROS Mengyao Ruan, Dale McConachie, Dmitry Berenson
2018	J	`jnl`	Analysis and Observations From the First Amazon Picking Challenge. IEEE Trans Autom. Sci. Eng. Nikolaus Correll, Kostas E. Bekris, Dmitry Berenson, Oliver Brock, Albert J. Causo, Kris Hauser, Kei Okada, Alberto Rodriguez, Joseph M. Romano, Peter R. Wurman
2018	J	`jnl`	Efficient Humanoid Contact Planning using Learned Centroidal Dynamics Prediction. CoRR Yu-Chi Lin, Brahayam Ponton, Ludovic Righetti, Dmitry Berenson
2018	J	`jnl`	Estimating Model Utility for Deformable Object Manipulation Using Multiarmed Bandit Methods. IEEE Trans Autom. Sci. Eng. Dale McConachie, Dmitry Berenson
2018	A	`conf`	Humanoid Navigation Planning in Large Unstructured Environments Using Traversability - Based Segmentation. IROS Yu-Chi Lin, Dmitry Berenson
2018	C	`conf`	Learning Constraints from Demonstrations. WAFR Glen Chou, Dmitry Berenson, Necmiye Ozay
2018	J	`jnl`	Learning Constraints from Demonstrations. CoRR Glen Chou, Dmitry Berenson, Necmiye Ozay
2018	—	`conf`	Motion Planning for Manipulators in Unknown Environments with Contact Sensing Uncertainty. ISER Brad Saund, Dmitry Berenson
2018	J	`jnl`	Unsupervised early prediction of human reaching for human-robot collaboration in shared workspaces. Auton. Robots Ruikun Luo, Rafi Hayne, Dmitry Berenson
2017	J	`jnl`	A Kinodynamic Aggressive Trajectory Planner For Narrow Passages. CoRR Yaohui Guo, Zhaolun Su, Dmitry Berenson, Ding Zhao
2017	A*	`conf`	A framework for robot-assisted doffing of personal protective equipment. ICRA Antonio Umali, Dmitry Berenson
2017	J	`jnl`	Bandit-Based Model Selection for Deformable Object Manipulation. CoRR Dale McConachie, Dmitry Berenson
2017	—	`conf`	Humanoid navigation in uneven terrain using learned estimates of traversability. Humanoids Yu-Chi Lin, Dmitry Berenson
2017	C	`conf`	Interleaving Planning and Control for Deformable Object Manipulation. ISRR Dale McConachie, Mengyao Ruan, Dmitry Berenson
2017	J	`jnl`	Planning and Resilient Execution of Policies For Manipulation in Contact with Actuation Uncertainty. CoRR Calder Phillips-Grafflin, Dmitry Berenson
2017	—	`conf`	SLHAP: Simultaneous Learning of Hierarchy and Primitives. HRI (Companion) Anahita Mohseni-Kabir, Changshuo Li, Victoria Wu, Daniel Miller, Benjamin Hylak, Sonia Chernova, Dmitry Berenson, Candace L. Sidner, Charles Rich
2017	J	`jnl`	Team WPI-CMU: Achieving Reliable Humanoid Behavior in the DARPA Robotics Challenge. J. Field Robotics 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
2016	C	`conf`	Bandit-Based Model Selection for Deformable Object Manipulation. WAFR Dale McConachie, Dmitry Berenson
2016	A*	`conf`	Considering avoidance and consistency in motion planning for human-robot manipulation in a shared workspace. ICRA Rafi Hayne, Ruikun Luo, Dmitry Berenson
2016	J	`jnl`	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. Calder Phillips-Grafflin, Halit Bener Suay, Jim Mainprice, Nicholas Alunni, Daniel M. Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Y. Oh
2016	J	`jnl`	Goal Set Inverse Optimal Control and Iterative Re-planning for Predicting Human Reaching Motions in Shared Workspaces. CoRR Jim Mainprice, Rafi Hayne, Dmitry Berenson
2016	J	`jnl`	Goal Set Inverse Optimal Control and Iterative Replanning for Predicting Human Reaching Motions in Shared Workspaces. IEEE Trans. Robotics Jim Mainprice, Rafi Hayne, Dmitry Berenson
2016	A*	`conf`	Improving Soft Pneumatic Actuator fingers through integration of soft sensors, position and force control, and rigid fingernails. ICRA John Morrow, Hee-Sup Shin, Calder Phillips-Grafflin, Sung-Hwan Jang, Jacob Torrey, Riley Larkins, Steven Dang, Yong-Lae Park, Dmitry Berenson
2016	—	`conf`	Integrated affordance detection and humanoid locomotion planning. Humanoids Will Pryor, Yu-Chi Lin, Dmitry Berenson
2016	—	`conf`	Learning Object Orientation Constraints and Guiding Constraints for Narrow Passages from One Demonstration. ISER Changshuo Li, Dmitry Berenson
2016	J	`jnl`	Lessons from the Amazon Picking Challenge. CoRR Nikolaus Correll, Kostas E. Bekris, Dmitry Berenson, Oliver Brock, Albert J. Causo, Kris Hauser, Kei Okada, Alberto Rodriguez, Joseph M. Romano, Peter R. Wurman
2016	C	`conf`	Planning and Resilient Execution of Policies For Manipulation in Contact with Actuation Uncertainty. WAFR Calder Phillips-Grafflin, Dmitry Berenson
2016	—	`conf`	Using previous experience for humanoid navigation planning. Humanoids Yu-Chi Lin, Dmitry Berenson
2015	A	`conf`	A framework for unsupervised online human reaching motion recognition and early prediction. IROS Ruikun Luo, Dmitry Berenson
2015	A*	`conf`	An online method for tight-tolerance insertion tasks for string and rope. ICRA Weifu Wang, Dmitry Berenson, Devin J. Balkcom
2015	J	`jnl`	Mobile Manipulation: Toward Smart Manufacturing [TC Spotlight]. IEEE Robotics Autom. Mag. Máximo A. Roa, Dmitry Berenson, Wes H. Huang
2015	—	`conf`	No falls, no resets: Reliable humanoid behavior in the DARPA robotics challenge. Humanoids 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
2015	A*	`conf`	Predicting human reaching motion in collaborative tasks using Inverse Optimal Control and iterative re-planning. ICRA Jim Mainprice, Rafi Hayne, Dmitry Berenson
2015	—	`conf`	Reproducing Expert-Like Motion in Deformable Environments Using Active Learning and IOC. ISRR (1) Calder Phillips-Grafflin, Dmitry Berenson
2014	A*	`conf`	A representation of deformable objects for motion planning with no physical simulation. ICRA Calder Phillips-Grafflin, Dmitry Berenson
2014	A*	`conf`	DARPA Robotics Challenge: Towards a user-guided manipulation framework for high-DOF robots. ICRA Nicholas Alunni, Halit Bener Suay, Calder Phillips-Grafflin, Jim Mainprice, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Daniel M. Lofaro, Paul Y. Oh
2014	A	`conf`	From autonomy to cooperative traded control of humanoid manipulation tasks with unreliable communication: System design and lessons learned. IROS Jim Mainprice, Calder Phillips-Grafflin, Halit Bener Suay, Nicholas Alunni, Daniel M. Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Y. Oh
2014	—	`conf`	Learning Cost Functions for Motion Planning of Human-Robot Collaborative Manipulation Tasks from Human-Human Demonstration. AAAI Fall Symposia Jim Mainprice, Dmitry Berenson
2014	J	`jnl`	Toward a user-guided manipulation framework for high-DOF robots with limited communication. Intell. Serv. Robotics Calder Phillips-Grafflin, Nicholas Alunni, Halit Bener Suay, Jim Mainprice, Daniel M. Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Y. Oh
2013	A	`conf`	Human-robot collaborative manipulation planning using early prediction of human motion. IROS Jim Mainprice, Dmitry Berenson
2013	A	`conf`	Manipulation of deformable objects without modeling and simulating deformation. IROS Dmitry Berenson
2013	J	`jnl`	Robot-Guided Open-Loop Insertion of Skew-Line Needle Arrangements for High Dose Rate Brachytherapy. IEEE Trans Autom. Sci. Eng. Animesh Garg, Timmy Siauw, Dmitry Berenson, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg
2013	—	`conf`	Toward a user-guided manipulation framework for high-DOF robots with limited communication. TePRA Nicholas Alunni, Calder Phillips-Grafflin, Halit Bener Suay, Daniel M. Lofaro, Dmitry Berenson, Sonia Chernova, Robert W. Lindeman, Paul Y. Oh
2012	—	`conf`	A Constraint-Aware Motion Planning Algorithm for Robotic Folding of Clothes. ISER Karthik Lakshmanan, Apoorva Sachdev, Ziang Xie, Dmitry Berenson, Ken Goldberg, Pieter Abbeel
2012	A*	`conf`	A robot path planning framework that learns from experience. ICRA Dmitry Berenson, Pieter Abbeel, Ken Goldberg
2012	A*	`conf`	Constellation - An algorithm for finding robot configurations that satisfy multiple constraints. ICRA Peter Kaiser, Dmitry Berenson, Nikolaus Vahrenkamp, Tamim Asfour, Rüdiger Dillmann, Siddhartha S. Srinivasa
2012	—	`conf`	Estimating part tolerance bounds based on adaptive Cloud-based grasp planning with slip. CASE Ben Kehoe, Dmitry Berenson, Ken Goldberg
2012	J	`jnl`	Herb 2.0: Lessons Learned From Developing a Mobile Manipulator for the Home. Proc. IEEE 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
2012	—	`conf`	Initial experiments toward automated robotic implantation of skew-line needle arrangements for HDR brachytherapy. CASE Animesh Garg, Timmy Siauw, Dmitry Berenson, J. Adam M. Cunha, I-Chow Hsu, Jean Pouliot, Dan Stoianovici, Ken Goldberg
2012	A*	`conf`	Toward cloud-based grasping with uncertainty in shape: Estimating lower bounds on achieving force closure with zero-slip push grasps. ICRA Ben Kehoe, Dmitry Berenson, Ken Goldberg
2011	A*	`conf`	Addressing cost-space chasms in manipulation planning. ICRA Dmitry Berenson, Thierry Siméon, Siddhartha S. Srinivasa
2011	—	`—`	Constrained Manipulation Planning. Dmitry Berenson
2011	J	`jnl`	Task Space Regions: A framework for pose-constrained manipulation planning. Int. J. Robotics Res. Dmitry Berenson, Siddhartha S. Srinivasa, James J. Kuffner
2010	J	`jnl`	HERB: a home exploring robotic butler. Auton. Robots Siddhartha S. Srinivasa, Dave Ferguson, Casey Helfrich, Dmitry Berenson, Alvaro Collet, Rosen Diankov, Garratt Gallagher, Geoffrey A. Hollinger, James Kuffner, Michael Vande Weghe
2010	A	`conf`	People helping robots helping people: Crowdsourcing for grasping novel objects. IROS Alexander Sorokin, Dmitry Berenson, Siddhartha S. Srinivasa, Martial Hebert
2010	A*	`conf`	Probabilistically complete planning with end-effector pose constraints. ICRA Dmitry Berenson, Siddhartha S. Srinivasa
2009	A	`conf`	Addressing pose uncertainty in manipulation planning using Task Space Regions. IROS Dmitry Berenson, Siddhartha S. Srinivasa, James J. Kuffner
2009	A	`conf`	Humanoid motion planning for dual-arm manipulation and re-grasping tasks. IROS Nikolaus Vahrenkamp, Dmitry Berenson, Tamim Asfour, James Kuffner, Rüdiger Dillmann
2009	A*	`conf`	Manipulation planning on constraint manifolds. ICRA Dmitry Berenson, Siddhartha S. Srinivasa, Dave Ferguson, James J. Kuffner
2009	A*	`conf`	Manipulation planning with Workspace Goal Regions. ICRA Dmitry Berenson, Siddhartha S. Srinivasa, Dave Ferguson, Alvaro Collet, James J. Kuffner
2009	A*	`conf`	Object recognition and full pose registration from a single image for robotic manipulation. ICRA Alvaro Collet, Dmitry Berenson, Siddhartha S. Srinivasa, Dave Ferguson
2009	—	`conf`	Pose-constrained whole-body planning using Task Space Region Chains. Humanoids Dmitry Berenson, Joel E. Chestnutt, Siddhartha S. Srinivasa, James J. Kuffner, Satoshi Kagami
2008	A*	`conf`	An optimization approach to planning for mobile manipulation. ICRA Dmitry Berenson, James Kuffner, Howie Choset
2008	—	`conf`	Grasp synthesis in cluttered environments for dexterous hands. Humanoids Dmitry Berenson, Siddhartha S. Srinivasa
2007	—	`conf`	Grasp planning in complex scenes. Humanoids Dmitry Berenson, Rosen Diankov, Koichi Nishiwaki, Satoshi Kagami, James Kuffner
2005	—	`conf`	Hardware Evolution of Analog Circuits for In-situ Robotic Fault-Recovery. Evolvable Hardware Dmitry Berenson, Nicolás S. Estévez, Hod Lipson