Autonomous Robotic Manipulation Lab

University of Michigan

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Who's working in the ARM lab

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Recent papers:

  • Constrained Stein Variational Trajectory Optimization
    Thomas Power and Dmitry Berenson
    IEEE Transactions on Robotics (T-RO), June 2024.  (Details | PDF | video) 

  • Subgoal Diffuser: Coarse-To-Fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation
    Zixuan Huang, Yating Lin, Fan Yang, and Dmitry Berenson
    IEEE International Conference on Robotics and Automation (ICRA), May, 2024.  (Details | video) 

  • Subgoal Diffuser: Coarse-To-Fine Subgoal Generation to Guide Model Predictive Control for Robot Manipulation
    Zixuan Huang, Yating Lin, Fan Yang, and Dmitry Berenson
    IEEE International Conference on Robotics and Automation (ICRA), May, 2024.  (Details | video) 

  • The Grasp Loop Signature: A Topological Representation for Manipulation Planning with Ropes and Cables
    Peter Mitrano and Dmitry Berenson
    IEEE International Conference on Robotics and Automation (ICRA), May, 2024.  (Details | video) 

  • Improving Out-Of-Distribution Generalization of Learned Dynamics by Learning Pseudometrics and Constraint Manifolds
    Yating Lin, Glen Chou, and Dmitry Berenson
    IEEE International Conference on Robotics and Automation (ICRA), May, 2024.  (Details | video) 

  • Online Adaptation of Sampling-Based Motion Planning with Inaccurate Models
    Marco Faroni and Dmitry Berenson
    IEEE International Conference on Robotics and Automation (ICRA), May, 2024.  (Details | video) 

  • Learning a Generalizable Trajectory Sampling Distribution for Model Predictive Control
    Thomas Power and Dmitry Berenson
    IEEE Transactions on Robotics (T-RO), vol. 40, pp. 2111-2127, 2024.  (Details | video) 

  • Motion Planning as Online Learning: A Multi-Armed Bandit Approach to Kinodynamic Sampling-Based Planning
    Marco Faroni and Dmitry Berenson
    IEEE Robotics and Automation Letters (RA-L), online September 2023.  (Details | PDF | video) 

  • CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data
    Sheng Zhong, Nima Fazeli, and Dmitry Berenson
    Robotics: Science and Systems (RSS), July 2023.  (Details | PDF | video) 

  • Integrated Object Deformation and Contact Patch Estimation from Visuo-Tactile Feedback
    Mark Van der Merwe, Youngsun Wi, Dmitry Berenson, Nima Fazeli
    Robotics: Science and Systems (RSS), July 2023.  (Details | PDF) 

  • Focused Adaptation of Dynamics Models for Deformable Object Manipulation
    Peter Mitrano, Alex LaGrassa, Oliver Kroemer, and Dmitry Berenson
    IEEE International Conference on Robotics and Automation (ICRA), May 2023.  (Details | PDF | video) 

  • Data-Efficient Learning of Natural Language to Linear Temporal Logic Translators for Robot Task Specification
    Jiayi Pan, Glen Chou, and Dmitry Berenson
    IEEE International Conference on Robotics and Automation (ICRA), May 2023.  (PDF | video) 


Research Interests

Our research focuses on creating algorithms that allow robots to interact with the world. These general-purpose motion planning, machine learning, and manipulation algorithms can be applied to robots that work in homes, factories, and operating rooms. We are interested in all aspects of algorithm development; including creating efficient algorithms, proving their theoretical properties, validating them on real-world robots and problems, integrating them with sensing and higher-level reasoning, and distributing them to open-source communities. Our lab draws on ideas in search, optimization, machine learning, motion planning, control theory, and topology to develop these algorithms and to prove their properties. We also seek to develop algorithms which can generalize to many types of practical tasks and application areas.


Press

  • Article about our RSS 2022 paper: Data Augmentation for Manipulation. (link)

  • Our paper on learning what a robot can and can't do is published in Science Robotics (link)

  • Glen Chou receives the NDSEG graduate fellowship (link)

  • Dmitry Berenson receives the NSF CAREER award for research on deformable object manipulation (link)

  • New ONR grant to support our work on Humanoid locomotion and deformable object manipulation (link)

  • Announcement of the IEEE RAS Early Career Award for Prof. Berenson (link)

  • Our soft hand work is featured on IEEE Spectrum Video Friday (link)

  • Announcement of our project on locomotion planning for shipboard humanoid robots (link)

  • An article covering our two new NSF grants on manipulating deformable objects and motion planning for soft robots from the Robotics Business Review (link)

  • Our research is featured in an article about the future of service robots in Robotics Industry Association Industry Insights (link)

© 2023 Dmitry Berenson. All Rights Reserved.