Publications

3,802 major publications by members of the MERL staff.


  •  Kato, S., Wang, P., Koike-Akino, T., Fujihashi, T., Mansour, H., Boufounos, P.T., "Multi-Band Wi-Fi Neural Dynamic Fusion", arXiv, July 2024.
    BibTeX arXiv
    • @article{Kato2024jul,
    • author = {Kato, Sorachi and Wang, Pu and Koike-Akino, Toshiaki and Fujihashi, Takuya and Mansour, Hassan and Boufounos, Petros T.},
    • title = {{Multi-Band Wi-Fi Neural Dynamic Fusion}},
    • journal = {arXiv},
    • year = 2024,
    • month = jul,
    • url = {https://arxiv.org/abs/2407.12937}
    • }
  •  Hase, R., Wang, Y., Koike-Akino, T., Liu, J., Parsons, K., "Variational Randomized Smoothing for Sample-Wise Adversarial Robustness", arXiv, July 2024.
    BibTeX arXiv
    • @article{Hase2024jul,
    • author = {Hase, Ryo and Wang, Ye and Koike-Akino, Toshiaki and Liu, Jing and Parsons, Kieran},
    • title = {{Variational Randomized Smoothing for Sample-Wise Adversarial Robustness}},
    • journal = {arXiv},
    • year = 2024,
    • month = jul,
    • url = {https://arxiv.org/abs/2407.11844}
    • }
  •  Zhang, J., Zhang, F., Rodriguez, C., Ben-Shabat, I., Cherian, A., Gould, S., "Temporally Grounding Instructional Diagrams in Unconstrained Videos", arXiv, July 2024.
    BibTeX arXiv
    • @article{Zhang2024jul4,
    • author = {Zhang, Jiahao and Zhang, Frederic and Rodriguez, Cristian and Ben-Shabat, Itzik and Cherian, Anoop and Gould, Stephen},
    • title = {{Temporally Grounding Instructional Diagrams in Unconstrained Videos}},
    • journal = {arXiv},
    • year = 2024,
    • month = jul,
    • url = {https://arxiv.org/abs/2407.12066}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization", IEEE Transactions on Robotics, DOI: 10.1109/​TRO.2024.3422053, pp. 3425-3444, July 2024.
    BibTeX TR2024-096 PDF Video
    • @article{Shirai2024jul,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {{Robust Pivoting Manipulation using Contact Implicit Bilevel Optimization}},
    • journal = {IEEE Transactions on Robotics},
    • year = 2024,
    • pages = {3425--3444},
    • month = jul,
    • doi = {10.1109/TRO.2024.3422053},
    • issn = {1941-0468},
    • url = {https://www.merl.com/publications/TR2024-096}
    • }
  •  Lu, Z., Wang, Y., "A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators", Journal of Field Robotics, DOI: 10.1002/​rob.22394, July 2024.
    BibTeX TR2024-095 PDF
    • @article{Lu2024jul,
    • author = {Lu, Zehui and Wang, Yebin},
    • title = {{A Differentiable Dynamic Modeling Approach to Integrated Motion Planning and Actuator Physical Design for Mobile Manipulators}},
    • journal = {Journal of Field Robotics},
    • year = 2024,
    • month = jul,
    • doi = {10.1002/rob.22394},
    • url = {https://www.merl.com/publications/TR2024-095}
    • }
  •  Giacomuzzo, G., Cescon, R., Romeres, D., Carli, R., Dalla Libera, A., "Lagrangian Inspired Polynomial Estimator for black-box learning and control of underactuated systems", Learning for Dynamics & Control Conference (L4DC), Abate, Alessandro and Cannon, Mark and Margellos, Kostas and Papachristodoulou, Antonis, Eds., July 2024, pp. 1292-1304.
    BibTeX TR2024-097 PDF
    • @inproceedings{Giacomuzzo2024jul,
    • author = {Giacomuzzo, Giulio and Cescon, Riccardo and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto},
    • title = {{Lagrangian Inspired Polynomial Estimator for black-box learning and control of underactuated systems}},
    • booktitle = {Learning for Dynamics \& Control Conference (L4DC)},
    • year = 2024,
    • editor = {Abate, Alessandro and Cannon, Mark and Margellos, Kostas and Papachristodoulou, Antonis},
    • pages = {1292--1304},
    • month = jul,
    • publisher = {PMLR},
    • url = {https://www.merl.com/publications/TR2024-097}
    • }
  •  Zhang, X., Mao, W., Mowlavi, S., Benosman, M., Basar, T., "Controlgym: Large-Scale Control Environments for Benchmarking Reinforcement Learning Algorithms", Learning for Dynamics & Control Conference (L4DC), July 2024, pp. 181-196.
    BibTeX TR2024-098 PDF
    • @inproceedings{Zhang2024jul2,
    • author = {Zhang, Xiangyuan and Mao, Weichao and Mowlavi, Saviz and Benosman, Mouhacine and Basar, Tamer},
    • title = {{Controlgym: Large-Scale Control Environments for Benchmarking Reinforcement Learning Algorithms}},
    • booktitle = {Learning for Dynamics \& Control Conference (L4DC)},
    • year = 2024,
    • pages = {181--196},
    • month = jul,
    • publisher = {PMLR},
    • url = {https://www.merl.com/publications/TR2024-098}
    • }
  •  Laughman, C.R., Deshpande, V.M., Chakrabarty, A., Qiao, H., "Enhancing Thermodynamic Data Quality for Refrigerant Mixtures: Domain-Informed Anomaly Detection and Removal", nternational Refrigeration and Air Conditioning Conference at Purdue, July 2024, pp. 2359, 1-10.
    BibTeX TR2024-099 PDF
    • @inproceedings{Laughman2024jul,
    • author = {Laughman, Christopher R. and Deshpande, Vedang M. and Chakrabarty, Ankush and Qiao, Hongtao},
    • title = {{Enhancing Thermodynamic Data Quality for Refrigerant Mixtures: Domain-Informed Anomaly Detection and Removal}},
    • booktitle = {International Refrigeration and Air Conditioning Conference at Purdue},
    • year = 2024,
    • pages = {2359, 1--10},
    • month = jul,
    • url = {https://www.merl.com/publications/TR2024-099}
    • }
  •  Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry", RSS Workshop on Frontiers of Optimization for Robotics (RSS Workshop FOR), July 2024.
    BibTeX TR2024-100 PDF
    • @inproceedings{Zhang2024jul3,
    • author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
    • title = {{Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry}},
    • booktitle = {RSS Workshop on Frontiers of Optimization for Robotics (RSS Workshop FOR)},
    • year = 2024,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2024-100}
    • }
  •  Bimbraw, K., Wang, Y., Liu, J., Koike-Akino, T., "GPT Sonograpy: Hand Gesture Decoding from Forearm Ultrasound Images via VLM", arXiv, July 2024.
    BibTeX arXiv
    • @article{Bimbraw2024jul2,
    • author = {Bimbraw, Keshav and Wang, Ye and Liu, Jing and Koike-Akino, Toshiaki},
    • title = {{GPT Sonograpy: Hand Gesture Decoding from Forearm Ultrasound Images via VLM}},
    • journal = {arXiv},
    • year = 2024,
    • month = jul,
    • url = {https://arxiv.org/abs/2407.10870}
    • }
  •  Huang, Y., Greiff, M., Vinod, A.P., Di Cairano, S., "Leveraging Computational Fluid Dynamics in UAV Motion Planning", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644753, July 2024, pp. 375-381.
    BibTeX TR2024-050 PDF Video
    • @inproceedings{Huang2024jul,
    • author = {Huang, Yunshen and Greiff, Marcus and Vinod, Abraham P. and {Di Cairano}, Stefano},
    • title = {{Leveraging Computational Fluid Dynamics in UAV Motion Planning}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {375--381},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644753},
    • url = {https://www.merl.com/publications/TR2024-050}
    • }
  •  Kim, T., Vinod, A.P., Di Cairano, S., "Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644642, July 2024, pp. 587-593.
    BibTeX TR2024-092 PDF
    • @inproceedings{Kim2024jul,
    • author = {Kim, Taewan and Vinod, Abraham P. and {Di Cairano}, Stefano},
    • title = {{Decoupled Trajectory Planning for Monitoring UAVs and UGV Carrier by Reachable Sets}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • pages = {587--593},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ACC60939.2024.10644642},
    • url = {https://www.merl.com/publications/TR2024-092}
    • }
  •  Wang, N., Di Cairano, S., Sanfelice, R., "A Switched Reference Governor for High Performance Trajectory Tracking under State and Input Constraints", American Control Conference (ACC), DOI: 10.23919/​ACC60939.2024.10644284, July 2024.
    BibTeX TR2024-091 PDF
    • @inproceedings{Wang2024jul,
    • author = {Wang, Nan and {Di Cairano}, Stefano and Sanfelice, Ricardo},
    • title = {{A Switched Reference Governor for High Performance Trajectory Tracking under State and Input Constraints}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • month = jul,
    • doi = {10.23919/ACC60939.2024.10644284},
    • url = {https://www.merl.com/publications/TR2024-091}
    • }
  •  Zhang, Y., Greiff, M., Ren, W., Berntorp, K., "Distributed Road-Map Monitoring Using Onboard Sensors", American Control Conference (ACC), July 2024.
    BibTeX TR2024-093 PDF
    • @inproceedings{Zhang2024jul,
    • author = {Zhang, Yanyu and Greiff, Marcus and Ren, Wei and Berntorp, Karl},
    • title = {{Distributed Road-Map Monitoring Using Onboard Sensors}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2024,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2024-093}
    • }
  •  Sun, Y., Guo, J., Parsons, K., Nagai, Y., "Improve Federated Learning Stability for Vehicle Trajectory Prediction", International Conference on Ubiquitous and Future Networks (UCIFN), July 2024.
    BibTeX TR2024-094 PDF
    • @inproceedings{Sun2024jul,
    • author = {Sun, Youbang and Guo, Jianlin and Parsons, Kieran and Nagai, Yukimasa},
    • title = {{Improve Federated Learning Stability for Vehicle Trajectory Prediction}},
    • booktitle = {International Conference on Ubiquitous and Future Networks (UCIFN)},
    • year = 2024,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2024-094}
    • }
  •  Nagai, Y., Guo, J., Rolfe, B.A., Yano, K., Sumi, T., Parsons, K., Orlik, P.V., Wang, P., "Sub-1 GHz Band Wireless Coexistence Study for OFDM Systems in IEEE 802.19.3a", Workshop on Smart Radio for IoT Era (SRIoT), July 2024.
    BibTeX TR2024-090 PDF
    • @inproceedings{Nagai2024jul,
    • author = {Nagai, Yukimasa and Guo, Jianlin and Rolfe, Benjamin A. and Yano, Kazuto and Sumi, Takenori and Parsons, Kieran and Orlik, Philip V. and Wang, Pu},
    • title = {{Sub-1 GHz Band Wireless Coexistence Study for OFDM Systems in IEEE 802.19.3a}},
    • booktitle = {Workshop on Smart Radio for IoT Era (SRIoT)},
    • year = 2024,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2024-090}
    • }
  •  Nikovski, D., Zhong, J., Yerazunis, W.S., "Memory-Based Global Iterative Linear Quadratic Control", International Conference on Control, Decision and Information Technologies (CoDIT), July 2024.
    BibTeX TR2024-089 PDF
    • @inproceedings{Nikovski2024jul2,
    • author = {Nikovski, Daniel and Zhong, Junmin and Yerazunis, William S.},
    • title = {{Memory-Based Global Iterative Linear Quadratic Control}},
    • booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT)},
    • year = 2024,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2024-089}
    • }
  •  Nikovski, D., Yerazunis, W.S., "Adaptive Velocity Estimators for Learning Control", International Conference on Control, Decision and Information Technologies (CoDIT), July 2024.
    BibTeX TR2024-088 PDF
    • @inproceedings{Nikovski2024jul,
    • author = {Nikovski, Daniel and Yerazunis, William S.},
    • title = {{Adaptive Velocity Estimators for Learning Control}},
    • booktitle = {International Conference on Control, Decision and Information Technologies (CoDIT)},
    • year = 2024,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2024-088}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation and Collision Avoidance", IEEE Transactions on Automation Science and Engineering, DOI: 10.1109/​TASE.2024.3365637, pp. 1-16, June 2024.
    BibTeX TR2024-087 PDF
    • @article{Raghunathan2024jun,
    • author = {{{Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego}}},
    • title = {{{PYROBOCOP: Python-based Robotic Control \& Optimization Package for Manipulation and Collision Avoidance}}},
    • journal = {IEEE Transactions on Automation Science and Engineering},
    • year = 2024,
    • pages = {1--16},
    • month = jun,
    • doi = {10.1109/TASE.2024.3365637},
    • issn = {1545-5955},
    • url = {https://www.merl.com/publications/TR2024-087}
    • }
  •  Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., Okura, Y., "Parametrized Maneuvers Governor for Decision Making in Automated Driving" in Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities., June 2024.
    BibTeX TR2024-086 PDF
    • @incollection{DiCairano2024jun,
    • author = {{{Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl and Okura, Yuichi}}},
    • title = {{{Parametrized Maneuvers Governor for Decision Making in Automated Driving}}},
    • booktitle = {Nonlinear and Constrained Control - Applications, Synergies, Challenges and Opportunities.},
    • year = 2024,
    • month = jun,
    • isbn = {978-3-031-82681-8},
    • url = {https://www.merl.com/publications/TR2024-086}
    • }
  •  Berntorp, K., Greiff, M., "Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590965, June 2024, pp. 725-730.
    BibTeX TR2024-082 PDF
    • @inproceedings{Berntorp2024jun,
    • author = {Berntorp, Karl and Greiff, Marcus},
    • title = {{Variational Bayes Kalman Filter for Joint Vehicle Localization and Road Mapping Using Onboard Sensors}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {725--730},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590965},
    • url = {https://www.merl.com/publications/TR2024-082}
    • }
  •  Greiff, M., Weiss, A., Berntorp, K., Di Cairano, S., "A Robust Invariant Set Planner For Quadrotors", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590943, June 2024.
    BibTeX TR2024-081 PDF
    • @inproceedings{Greiff2024jun,
    • author = {Greiff, Marcus and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
    • title = {{A Robust Invariant Set Planner For Quadrotors}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC64448.2024.10590943},
    • url = {https://www.merl.com/publications/TR2024-081}
    • }
  •  Lu, Z., Wang, Y., Sakamoto, Y., Mou, S., "Distributed Co-Design of Motors and Motions for Robotic Manipulators", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590808, June 2024.
    BibTeX TR2024-083 PDF
    • @inproceedings{Lu2024jun,
    • author = {Lu, Zehui and Wang, Yebin and Sakamoto, Yusuke and Mou, Shaoshuai},
    • title = {{Distributed Co-Design of Motors and Motions for Robotic Manipulators}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590808},
    • url = {https://www.merl.com/publications/TR2024-083}
    • }
  •  Wang, Y., Berntorp, K., Menner, M., "Physics-Informed Road Monitoring and Suspension Control using Crowdsourced Vehicle Data", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10590862, June 2024, pp. 699-704.
    BibTeX TR2024-084 PDF
    • @inproceedings{Wang2024jun4,
    • author = {Wang, Yanbing and Berntorp, Karl and Menner, Marcel},
    • title = {{Physics-Informed Road Monitoring and Suspension Control using Crowdsourced Vehicle Data}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • pages = {699--704},
    • month = jun,
    • doi = {10.23919/ECC64448.2024.10590862},
    • url = {https://www.merl.com/publications/TR2024-084}
    • }
  •  Hall, J.F., Raghunathan, A., "Structural Exploitation for the Homogeneous Reformulation of Model Predictive Control Problems", European Control Conference (ECC), DOI: 10.23919/​ECC64448.2024.10591164, June 2024.
    BibTeX TR2024-080 PDF
    • @inproceedings{Hall2024jun,
    • author = {Hall, Jonas F and Raghunathan, Arvind},
    • title = {{Structural Exploitation for the Homogeneous Reformulation of Model Predictive Control Problems}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2024,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC64448.2024.10591164},
    • url = {https://www.merl.com/publications/TR2024-080}
    • }