Publications

74 / 3,799 publications found.


  •  Dalla Libera, A., Turcato, N., Giacomuzzo, G., Carli, R., Romeres, D., "Athletic Intelligence Olympics challenge with Model-Based Reinforcement Learning", International Joint Conference on Artificial Intelligence, August 2023.
    BibTeX TR2023-111 PDF
    • @inproceedings{DallaLibera2023aug,
    • author = {Dalla Libera, Alberto and Turcato, Niccolò and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego},
    • title = {{Athletic Intelligence Olympics challenge with Model-Based Reinforcement Learning}},
    • booktitle = {International Joint Conference on Artificial Intelligence},
    • year = 2023,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2023-111}
    • }
  •  Duan, X., Wang, Y., Romeres, D., Koike-Akino, T., Orlik, P.V., "Trajectory Generation for Online Payload Estimation of Robot Manipulators: A Supervised Learning Based Approach", IEEE Conference on Automation and Science Engineering, DOI: 10.1109/​CASE56687.2023.10260415, August 2023.
    BibTeX TR2023-106 PDF
    • @inproceedings{Duan2023aug,
    • author = {Duan, Xiaoming and Wang, Yebin and Romeres, Diego and Koike-Akino, Toshiaki and Orlik, Philip V.},
    • title = {{Trajectory Generation for Online Payload Estimation of Robot Manipulators: A Supervised Learning Based Approach}},
    • booktitle = {IEEE Conference on Automation and Science Engineering},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CASE56687.2023.10260415},
    • isbn = {979-8-3503-2070-1},
    • url = {https://www.merl.com/publications/TR2023-106}
    • }
  •  Hori, C., Peng, P., Harwath, D., Liu, X., Ota, K., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Style-transfer based Speech and Audio-visual Scene understanding for Robot Action Sequence Acquisition from Videos", Interspeech, DOI: 10.21437/​Interspeech.2023-1983, August 2023, pp. 4663-4667.
    BibTeX TR2023-104 PDF
    • @inproceedings{Hori2023aug,
    • author = {Hori, Chiori and Peng, Puyuang and Harwath, David and Liu, Xinyu and Ota, Kei and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and {Le Roux}, Jonathan},
    • title = {{Style-transfer based Speech and Audio-visual Scene understanding for Robot Action Sequence Acquisition from Videos}},
    • booktitle = {Interspeech},
    • year = 2023,
    • pages = {4663--4667},
    • month = aug,
    • doi = {10.21437/Interspeech.2023-1983},
    • url = {https://www.merl.com/publications/TR2023-104}
    • }
  •  Dalla Libera, A., Giacomuzzo, G., Carli, R., Nikovski, D., Romeres, D., "Forward Dynamics Estimation from Data-Driven Inverse Dynamics Learning", World Congress of the International Federation of Automatic Control (IFAC), DOI: 10.1016/​j.ifacol.2023.10.1620, July 2023, pp. Pages 519-524.
    BibTeX TR2023-092 PDF
    • @inproceedings{DallaLibera2023jul2,
    • author = {Dalla Libera, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Nikovski, Daniel and Romeres, Diego},
    • title = {{Forward Dynamics Estimation from Data-Driven Inverse Dynamics Learning}},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2023,
    • pages = {Pages 519--524},
    • month = jul,
    • doi = {10.1016/j.ifacol.2023.10.1620},
    • url = {https://www.merl.com/publications/TR2023-092}
    • }
  •  Jha, D.K., Romeres, D., Jain, S., Yerazunis, W.S., Nikovski, D., "Design of Adaptive Compliance Controllers for Safe Robotic Assembly", European Control Conference (ECC), DOI: 10.23919/​ECC57647.2023.10178229, June 2023.
    BibTeX TR2023-070 PDF
    • @inproceedings{Jha2023jun,
    • author = {Jha, Devesh K. and Romeres, Diego and Jain, Siddarth and Yerazunis, William S. and Nikovski, Daniel},
    • title = {{Design of Adaptive Compliance Controllers for Safe Robotic Assembly}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2023,
    • month = jun,
    • doi = {10.23919/ECC57647.2023.10178229},
    • url = {https://www.merl.com/publications/TR2023-070}
    • }
  •  Jha, D.K., Jain, S., Romeres, D., Yerazunis, W.S., Nikovski, D., "Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control", European Control Conference (ECC), DOI: 10.23919/​ECC57647.2023.10178330, May 2023, pp. 1-8.
    BibTeX TR2023-065 PDF
    • @inproceedings{Jha2023may,
    • author = {Jha, Devesh K. and Jain, Siddarth and Romeres, Diego and Yerazunis, William S. and Nikovski, Daniel},
    • title = {{Generalizable Human-Robot Collaborative Assembly Using Imitation Learning and Force Control}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2023,
    • pages = {1--8},
    • month = may,
    • doi = {10.23919/ECC57647.2023.10178330},
    • url = {https://www.merl.com/publications/TR2023-065}
    • }
  •  Giacomuzzo, G., Dalla Libera, A., Carli, R., Romeres, D., "A Lagrangian Inspired Polynomial Kernel for Robot Dynamics Identification", ICRA 2023 Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots), May 2023.
    BibTeX TR2023-063 PDF
    • @inproceedings{Giacomuzzo2023may,
    • author = {Giacomuzzo, Giulio and Dalla Libera, Alberto and Carli, Ruggero and Romeres, Diego},
    • title = {{A Lagrangian Inspired Polynomial Kernel for Robot Dynamics Identification}},
    • booktitle = {ICRA 2023 Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots)},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-063}
    • }
  •  Zhang, X., Jain, S., Huang, B., Tomizuka, M., Romeres, D., "Learning Generalizable Pivoting Skills with Object Feature Based State/Action Projections", ICRA 2023 Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots), May 2023.
    BibTeX TR2023-048 PDF
    • @inproceedings{Zhang2023may5,
    • author = {Zhang, Xiang and Jain, Siddarth and Huang, Baichuan and Tomizuka, Masayoshi and Romeres, Diego},
    • title = {{Learning Generalizable Pivoting Skills with Object Feature Based State/Action Projections}},
    • booktitle = {ICRA 2023 Workshop on Effective Representations, Abstractions, and Priors for Robot Learning (RAP4Robots)},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-048}
    • }
  •  Amadio, F., Dalla Libera, A., Nikovski, D.N., Carli, R., Romeres, D., "Learning Control from Raw Position Measurements", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10156063, May 2023.
    BibTeX TR2023-060 PDF
    • @inproceedings{Amadio2023may,
    • author = {Amadio, Fabio and Dalla Libera, Alberto and Nikovski, Daniel N. and Carli, Ruggero and Romeres, Diego},
    • title = {{Learning Control from Raw Position Measurements}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC55779.2023.10156063},
    • issn = {2378-5861},
    • isbn = {979-8-3503-2806-6},
    • url = {https://www.merl.com/publications/TR2023-060}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization in Contact-rich Systems", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10156516, May 2023, pp. 14-21.
    BibTeX TR2023-061 PDF
    • @inproceedings{Shirai2023may4,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {{Chance-Constrained Optimization in Contact-rich Systems}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {14--21},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC55779.2023.10156516},
    • url = {https://www.merl.com/publications/TR2023-061}
    • }
  •  Jain, S., Corcodel, R., Jha, D.K., Romeres, D., "Vision Guided Food Assembly by Robot Teaching from Target Composition", ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork, May 2023.
    BibTeX TR2023-067 PDF
    • @inproceedings{Jain2023may,
    • author = {Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego},
    • title = {{Vision Guided Food Assembly by Robot Teaching from Target Composition}},
    • booktitle = {ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-067}
    • }
  •  Kim, S., Jha, D.K., Romeres, D., Rodriguez, A., "Simultaneous Tactile Estimation and Control of Extrinsic Contact", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10161158, May 2023, pp. 12563-12569.
    BibTeX TR2023-025 PDF Video
    • @inproceedings{Kim2023may,
    • author = {Kim, Sangwoon and Jha, Devesh K. and Romeres, Diego and Rodriguez, Alberto},
    • title = {{Simultaneous Tactile Estimation and Control of Extrinsic Contact}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {12563--12569},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10161158},
    • url = {https://www.merl.com/publications/TR2023-025}
    • }
  •  Zhang, X., Jain, S., Baichuan, H., Tomizuka, M., Romeres, D., "Learning Generalizable Pivoting Skills", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10161271, May 2023.
    BibTeX TR2023-045 PDF
    • @inproceedings{Zhang2023may4,
    • author = {Zhang, Xiang and Jain, Siddarth and Baichuan, Huang and Tomizuka, Masayoshi and Romeres, Diego},
    • title = {{Learning Generalizable Pivoting Skills}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10161271},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-045}
    • }
  •  Amadio, F., Dalla Libera, A., Antonello, R., Nikovski, D.N., Carli, R., Romeres, D., "Model-Based Policy Search Using Monte Carlo Gradient Estimation with Real Systems Application", IEEE Transaction on Robotics, DOI: 10.1109/​TRO.2022.3184837, Vol. 38, No. 6, pp. 3879-3898, December 2022.
    BibTeX TR2022-154 PDF Videos Software
    • @article{Romeres2022dec,
    • author = {Amadio, Fabio and Dalla Libera, Alberto and Antonello, Riccardo and Nikovski, Daniel N. and Carli, Ruggero and Romeres, Diego},
    • title = {{Model-Based Policy Search Using Monte Carlo Gradient Estimation with Real Systems Application}},
    • journal = {IEEE Transaction on Robotics},
    • year = 2022,
    • volume = 38,
    • number = 6,
    • pages = {3879--3898},
    • month = dec,
    • doi = {10.1109/TRO.2022.3184837},
    • issn = {1941-0468},
    • url = {https://www.merl.com/publications/TR2022-154}
    • }
  •  Masui, H., Romeres, D., Nikovski, D.N., "Transfer Learning for Bayesian Optimization with Principal Component Analysis", International Conference on Machine Learning and Applications (ICMLA), December 2022, pp. 1077-1084.
    BibTeX TR2022-169 PDF
    • @inproceedings{Masui2022dec,
    • author = {Masui, Hideyuki and Romeres, Diego and Nikovski, Daniel N.},
    • title = {{Transfer Learning for Bayesian Optimization with Principal Component Analysis}},
    • booktitle = {International Conference on Machine Learning and Applications (ICMLA)},
    • year = 2022,
    • pages = {1077--1084},
    • month = dec,
    • publisher = {IEEE},
    • isbn = {978-1-6654-6283-9},
    • url = {https://www.merl.com/publications/TR2022-169}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "Homogeneous Infeasible Interior Point Method for Convex Quadratic Programs", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC51059.2022.9992979, December 2022, pp. 7571-7578.
    BibTeX TR2022-157 PDF
    • @inproceedings{Raghunathan2022dec,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {{Homogeneous Infeasible Interior Point Method for Convex Quadratic Programs}},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2022,
    • pages = {7571--7578},
    • month = dec,
    • doi = {10.1109/CDC51059.2022.9992979},
    • url = {https://www.merl.com/publications/TR2022-157}
    • }
  •  Schneider, T., Belousov, B., Chalvatzaki, G., Romeres, D., Jha, D.K., Peters, J., "Active Exploration for Robotic Manipulation", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS47612.2022.9982061, October 2022.
    BibTeX TR2022-139 PDF
    • @inproceedings{Schneider2022oct,
    • author = {Schneider, Tim and Belousov, Boris and Chalvatzaki, Georgia and Romeres, Diego and Jha, Devesh K. and Peters, Jan},
    • title = {{Active Exploration for Robotic Manipulation}},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2022,
    • month = oct,
    • publisher = {IEE},
    • doi = {10.1109/IROS47612.2022.9982061},
    • issn = {2153-0866},
    • isbn = {978-1-6654-7927-1},
    • url = {https://www.merl.com/publications/TR2022-139}
    • }
  •  Shaw, S., Jha, D.K., Raghunathan, A., Corcodel, R., Romeres, D., Konidaris, G., Nikovski, D., "Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills", arXiv, September 2022.
    BibTeX arXiv
    • @article{Shaw2022sep,
    • author = {Shaw, Seiji and Jha, Devesh K. and Raghunathan, Arvind and Corcodel, Radu and Romeres, Diego and Konidaris, George and Nikovski, Daniel},
    • title = {{Constrained Dynamic Movement Primitives for Safe Learning of Motor Skills}},
    • journal = {arXiv},
    • year = 2022,
    • month = sep,
    • url = {https://arxiv.org/abs/2209.14461}
    • }
  •  Jha, D.K., Romeres, D., Yerazunis, W.S., Nikovski, D.N., "Imitation and Supervised Learning of Compliance for Robotic Assembly", European Control Conference (ECC), DOI: 10.23919/​ECC55457.2022.9838102, July 2022, pp. 1882-1889.
    BibTeX TR2022-099 PDF Video
    • @inproceedings{Jha2022jul,
    • author = {Jha, Devesh K. and Romeres, Diego and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {{Imitation and Supervised Learning of Compliance for Robotic Assembly}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2022,
    • pages = {1882--1889},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ECC55457.2022.9838102},
    • isbn = {978-3-9071-4407-7},
    • url = {https://www.merl.com/publications/TR2022-099}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "Python-based Open Source Package for Optimization of Contact-rich Systems", Robotics: Science and Systems, June 2022.
    BibTeX TR2022-089 PDF
    • @inproceedings{Raghunathan2022jun,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {{Python-based Open Source Package for Optimization of Contact-rich Systems}},
    • booktitle = {Robotics: Science and Systems},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-089}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization", RSS Workshop on The Science of Bumping into Things, June 2022.
    BibTeX TR2022-090 PDF Video
    • @inproceedings{Shirai2022jun,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {{Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization}},
    • booktitle = {RSS Workshop on The Science of Bumping into Things},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-090}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA46639.2022.9812069, May 2022.
    BibTeX TR2022-057 PDF Video Software
    • @inproceedings{Raghunathan2022may,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {{PYROBOCOP: Python-based Robotic Control \& Optimization Package for Manipulation}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA46639.2022.9812069},
    • isbn = {978-1-7281-9681-7},
    • url = {https://www.merl.com/publications/TR2022-057}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA46639.2022.9811812, May 2022, pp. 992-998.
    BibTeX TR2022-045 PDF Video
    • @inproceedings{Shirai2022may,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {{Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • pages = {992--998},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA46639.2022.9811812},
    • url = {https://www.merl.com/publications/TR2022-045}
    • }
  •  Jha, D.K., Romeres, D., Jain, S., Yerazunis, W.S., Nikovski, D., "Design of Adaptive Compliance Controllers for Safe Robotic Assembly", arXiv, DOI: 10.48550/​arXiv.2204.10447, April 2022.
    BibTeX arXiv
    • @article{Jha2022apr,
    • author = {Jha, Devesh K. and Romeres, Diego and Jain, Siddarth and Yerazunis, William S. and Nikovski, Daniel},
    • title = {{Design of Adaptive Compliance Controllers for Safe Robotic Assembly}},
    • journal = {arXiv},
    • year = 2022,
    • month = apr,
    • doi = {10.48550/arXiv.2204.10447},
    • url = {https://arxiv.org/abs/2204.10447}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation", arXiv, DOI: 10.48550/​arXiv.2203.11412, March 2022.
    BibTeX arXiv
    • @article{Shirai2022mar,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {{Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation}},
    • journal = {arXiv},
    • year = 2022,
    • month = mar,
    • doi = {10.48550/arXiv.2203.11412},
    • url = {https://arxiv.org/abs/2203.02616}
    • }