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Safe Output Feedback Motion Planning from Images via Learned Perception Modules and Contraction Theory



Glen Chou , Necmiye Ozay , Dmitry Berenson

* Workshop on the Algorithmic Foundations of Robotics (WAFR) XV, 2022, College Park, MD, USA (accepted) 

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Data Augmentation for Manipulation



Peter Mitrano , Dmitry Berenson

* Robotics Science and Systems (RSS) 2022 Project Website: https://sites.google.com/view/data-augmentation4manipulation 

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Variational Inference MPC using Normalizing Flows and Out-of-Distribution Projection



Thomas Power , Dmitry Berenson

* Robotics: Science and Systems (RSS) 2022 

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Soft Tracking Using Contacts for Cluttered Objects to Perform Blind Object Retrieval



Sheng Zhong , Nima Fazeli , Dmitry Berenson

* 8 pages, 7 figures, 2 tables, and 3 algorithm blocks, accepted to RA-L, preprint 

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Gaussian Process Constraint Learning for Scalable Chance-Constrained Motion Planning from Demonstrations



Glen Chou , Hao Wang , Dmitry Berenson

* Under review at RA-L + ICRA 2022 

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CLASP: Constrained Latent Shape Projection for Refining Object Shape from Robot Contact



Brad Saund , Dmitry Berenson

* 16 pages, 10 figures, Accepted at the Conference on Robot Learning (CoRL) 2021 

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Challenges and Outlook in Robotic Manipulation of Deformable Objects



Jihong Zhu , Andrea Cherubini , Claire Dune , David Navarro-Alarcon , Farshid Alambeigi , Dmitry Berenson , Fanny Ficuciello , Kensuke Harada , Xiang Li , Jia Pan , Wenzhen Yuan


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Model Error Propagation via Learned Contraction Metrics for Safe Feedback Motion Planning of Unknown Systems



Glen Chou , Necmiye Ozay , Dmitry Berenson

* 10 pages, 5 figures, abridged version under review 

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Fusing RGBD Tracking and Segmentation Tree Sampling for Multi-Hypothesis Volumetric Segmentation



Andrew Price , Kun Huang , Dmitry Berenson

* 7 pages, 7 figures, 2021 IEEE International Conference on Robotics and Automation 

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