Abstract: Robots are used to dispense a substance, such as heated oil, on target vegetation, such as weeds or specialty crops. The robot can be semi-autonomous or a towed implement and includes an imaging module that captures images of a crop row with the target vegetation and a sprayer that dispenses a micro-dose or micro-doses of the substance. The robot also includes a control system that can determine the position of the robot and identify the target vegetation and its location. Based on this information, the control system activates a sprayer that dispenses the micro-dose of the substance onto the target vegetation in the identified location.