Author

D. Berenson

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Jul 2026

STEMbot: A Compliant Robot for Under-Canopy Plant Navigation

The scalability of organic agriculture is partially limited by the labor costs associated with monitoring for pests. While drones and rovers are well-suited for agricultural monitoring from above or next to plants, many pests live on the underside of leaves or on plant stems, making them detectable only after they have...

Zachary S. Charlick, N. R. Choudhury, Haoyu Ma et al. · arXiv.org · 0 citations

Preprint Aug 2026

PDDL-ART: Autonomous Symbolic Abstraction From Demonstration For Long-Horizon Robotic Manipulation Using Vision-Language Models

PDDL-ART is a framework that autonomously generates task-specific PDDL domain and problem descriptions from a single expert demonstration, a natural language task description, and a library of available high-level action names, which leverages the tool-use capabilities of modern VLMs to incorporate geometric and tempor...

Disha Kamale, D. Berenson · 0 citations