Dmitry Berenson

University of Michigan — United States

Engineering · Physical Sciences

33h-index5.5kcitations176works1.22yr avg
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Research Topics

Robot Manipulation and Learning(101), Robotic Path Planning Algorithms(56), Robotics and Sensor-Based Localization(29), Reinforcement Learning in Robotics(21), AI-based Problem Solving and Planning(17)

Publications176 total

Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing
IEEE Robotics and Automation Letters·2026
Lies We Can Trust: Quantifying Action Uncertainty with Inaccurate Stochastic Dynamics through Conformalized Nonholonomic Lie groups
IEEE Robotics and Automation Letters·2026
Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing
ArXiv.org·2025Open Access
Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing
arXiv (Cornell University)·2025Open Access
Lies We Can Trust: Quantifying Action Uncertainty with Inaccurate Stochastic Dynamics through Conformalized Nonholonomic Lie Groups
arXiv (Cornell University)·2025Open Access
Unified Multimodal Diffusion Forcing for Forceful Manipulation
arXiv (Cornell University)·2025Open Access
AVO: Amortized Value Optimization for Contact Mode Switching in Multi-Finger Manipulation
arXiv (Cornell University)·2025Open Access
Diffusing Trajectory Optimization Problems for Recovery During Multi-Finger Manipulation
arXiv (Cornell University)·2025Open Access
AnoF-Diff: One-Step Diffusion-Based Anomaly Detection for Forceful Tool Use
arXiv (Cornell University)·2025Open Access
Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization
IEEE Robotics and Automation Letters·2025
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation
2025
Language-Guided Object Search in Agricultural Environments
2025
Implicit Contact Diffuser: Sequential Contact Reasoning With Latent Point Cloud Diffusion
2025
Estimating Deformable-Rigid Contact Interactions for a Deformable Tool via Learning and Model-Based Optimization
arXiv (Cornell University)·2025Open Access
Multi-Finger Manipulation via Trajectory Optimization With Differentiable Rolling and Geometric Constraints
IEEE Robotics and Automation Letters·2025· 2 cited
Language-Guided Object Search in Agricultural Environments
arXiv (Cornell University)·2025Open Access
RUMI: Rummaging Using Mutual Information
IEEE Transactions on Robotics·2025· 2 cited
Implicit Contact Diffuser: Sequential Contact Reasoning with Latent Point Cloud Diffusion
arXiv (Cornell University)·2024Open Access
Constraining Gaussian Process Implicit Surfaces for Robot Manipulation via Dataset Refinement
IEEE Robotics and Automation Letters·2024
Diffusion-Informed Probabilistic Contact Search for Multi-Finger Manipulation
arXiv (Cornell University)·2024Open Access
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Frequent Co-authors

Siddhartha S Srinivasa(12), James Kuffner(9), Dave Ferguson(4), Alvaro Collet(4), Ken Goldberg(4), Rafi Hayne(4), Glen Chou(4), Rosen Diankov(3), Jim Mainprice(3), Christopher G. Atkeson(3), Perry Franklin(3), Michael A. Gennert(3), Joshua P. Graff(3), He Peng(3), Joohyung Kim(3), Kevin Knoedler(3), Lening Li(3), Taşkın Padır(3), Felipe Polido(3), X Xinjilefu(3)