Devesh Jha

  • Biography

    Devesh's PhD Thesis was on decision & control of autonomous systems. He also got a Master's degree in Mathematics from Penn State. His research interests are in the areas of Machine Learning, Time Series Analytics and Robotics. He was a recipient of the best student paper award at the 1st ACM SIGKDD workshop on Machine Learning for Prognostics and Health Management at KDD 2016, San Francisco.

  • Recent News & Events

    •  NEWS   Invited talk at University of Leeds
      Date: April 7, 2021
      Where: Online
      MERL Contact: Devesh Jha
      Research Areas: Artificial Intelligence, Machine Learning, Robotics
      Brief
      • Devesh Jha, a Principal Research Scientist in MERL's Data Analytics group, gave an invited talk at the robotics seminar series at the University of Leeds. The talk presented some of the recent work done at MERL in the areas of robotic manipulation and robot learning.
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    •  NEWS   New robotics benchmark system
      Date: November 16, 2020
      MERL Contacts: Devesh Jha; Daniel Nikovski; Diego Romeres; Alan Sullivan; Jeroen van Baar
      Research Areas: Artificial Intelligence, Machine Learning, Robotics
      Brief
      • MERL researchers, in collaboration with researchers from MELCO and the Department of Brain and Cognitive Science at MIT, have released simulation software Circular Maze Environment (CME). This system could be used as a new benchmark for evaluating different control and robot learning algorithms. The control objective in this system is to tip and the tilt the maze so as to drive one (or multiple) marble(s) to the innermost ring of the circular maze. Although the system is very intuitive for humans to control, it is very challenging for artificial intelligence agents to learn efficiently. It poses several challenges for both model-based as well as model-free methods, due to its non-smooth dynamics, long planning horizon, and non-linear dynamics. The released Python package provides the simulation environment for the circular maze, where movement of multiple marbles could be simulated simultaneously. The package also provides a trajectory optimization algorithm to design a model-based controller in simulation.
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  • Awards

    •  AWARD   MERL Researcher Devesh Jha Wins the Rudolf Kalman Best Paper Award 2019
      Date: October 10, 2019
      Awarded to: Devesh Jha, Nurali Virani, Zhenyuan Yuan, Ishana Shekhawat and Asok Ray
      MERL Contact: Devesh Jha
      Research Areas: Artificial Intelligence, Control, Data Analytics, Machine Learning, Robotics
      Brief
      • MERL researcher Devesh Jha has won the Rudolf Kalman Best Paper Award 2019 for the paper entitled "Imitation of Demonstrations Using Bayesian Filtering With Nonparametric Data-Driven Models". This paper, published in a Special Commemorative Issue for Rudolf E. Kalman in the ASME JDSMC in March 2018, uses Bayesian filtering for imitation learning in Hidden Mode Hybrid Systems. This award is given annually by the Dynamic Systems and Control Division of ASME to the authors of the best paper published in the ASME Journal of Dynamic Systems Measurement and Control during the preceding year.
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  • MERL Publications

    •  Raghunathan, A., Jha, D., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package", arXiv, June 2021.
      BibTeX arXiv
      • @article{Raghunathan2021jun,
      • author = {Raghunathan, Arvind and Jha, Devesh and Romeres, Diego},
      • title = {PYROBOCOP: Python-based Robotic Control & Optimization Package},
      • journal = {arXiv},
      • year = 2021,
      • month = jun,
      • url = {https://arxiv.org/abs/2106.03220}
      • }
    •  Jin, S., Romeres, D., Raghunathan, A., Jha, D., Tomizuka, M., "Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units", IEEE International Conference on Robotics and Automation (ICRA), June 2021.
      BibTeX TR2021-072 PDF
      • @inproceedings{Jin2021jun2,
      • author = {Jin, Shiyu and Romeres, Diego and Raghunathan, Arvind and Jha, Devesh and Tomizuka, Masayoshi},
      • title = {Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2021,
      • month = jun,
      • url = {https://www.merl.com/publications/TR2021-072}
      • }
    •  Jin, S., Romeres, D., Raghunathan, A., Jha, D., Tomizuka, M., "Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units", IEEE International Conference on Robotics and Automation (ICRA), June 2021.
      BibTeX TR2021-072 PDF
      • @inproceedings{Jin2021jun,
      • author = {Jin, Shiyu and Romeres, Diego and Raghunathan, Arvind and Jha, Devesh and Tomizuka, Masayoshi},
      • title = {Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2021,
      • month = jun,
      • url = {https://www.merl.com/publications/TR2021-072}
      • }
    •  Jin, S., Romeres, D., Raghunathan, A., Jha, D., Tomizuka, M., "Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units", IEEE International Conference on Robotics and Automation (ICRA), June 2021.
      BibTeX TR2021-072 PDF
      • @inproceedings{Jin2021jun3,
      • author = {Jin, Shiyu and Romeres, Diego and Raghunathan, Arvind and Jha, Devesh and Tomizuka, Masayoshi},
      • title = {Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2021,
      • month = jun,
      • url = {https://www.merl.com/publications/TR2021-072}
      • }
    •  Dong, S., Jha, D., Romeres, D., Kim, S., Nikovski, D.N., Rodriguez, A., "Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry", IEEE International Conference on Robotics and Automation (ICRA), May 2021.
      BibTeX TR2021-052 PDF
      • @inproceedings{Dong2021may,
      • author = {Dong, Siyuan and Jha, Devesh and Romeres, Diego and Kim, Sangwoon and Nikovski, Daniel N. and Rodriguez, Alberto},
      • title = {Tactile-RL for Insertion: Generalization to Objects of Unknown Geometry},
      • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
      • year = 2021,
      • month = may,
      • url = {https://www.merl.com/publications/TR2021-052}
      • }
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  • Software Downloads

  • Videos

  • MERL Issued Patents

    • Title: "Predictive Classification of Future Operations"
      Inventors: Jha, Devesh; Zhang, Wenyu; Laftchiev, Emil; Nikovski, Daniel N.
      Patent No.: 10,996,664
      Issue Date: May 4, 2021
    • Title: "System and Method for Control Constrained Operation of Machine with Partially Unmodeled Dynamics"
      Inventors: Chakrabarty, Ankush; Jha, Devesh; Wang, Yebin
      Patent No.: 10,895,854
      Issue Date: Jan 19, 2021
    • Title: "Compact Photonic Devices"
      Inventors: Kojima, Keisuke; Tahersima, Mohammad; Koike-Akino, Toshiaki; Jha, Devesh; Wang, Bingnan; Lin, Chungwei; Parsons, Kieran
      Patent No.: 10,859,769
      Issue Date: Dec 8, 2020
    • Title: "Vehicle Automated Parking System and Method"
      Inventors: Wang, Yebin; Jha, Devesh
      Patent No.: 9,969,386
      Issue Date: May 15, 2018
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