Publications

3,847 major publications by members of the MERL staff.


  •  Liu, X., Paul, S., Chatterjee, M., Cherian, A., "Active Sparse Conversations for Improved Audio-Visual Embodied Navigation", arXiv, June 2023.
    BibTeX arXiv
    • @inproceedings{Liu2023jun,
    • author = {Liu, Xiulong and Paul, Sudipta and Chatterjee, Moitreya and Cherian, Anoop},
    • title = {{Active Sparse Conversations for Improved Audio-Visual Embodied Navigation}},
    • booktitle = {arXiv},
    • year = 2023,
    • month = jun,
    • url = {https://arxiv.org/abs/2306.04047}
    • }
  •  Wu, S.-L., Chang, X., Wichern, G., Jung, J.-W., Germain, F., Le Roux, J., Watanabe, S., "BEATs-based Audio Captioning Model with Instructor Embedding Supervision and ChatGPT Mix-up," Tech. Rep. TR2023-068, DCASE2023 Challenge, May 2023.
    BibTeX TR2023-068 PDF
    • @techreport{Wu2023may,
    • author = {Wu, Shih-Lun and Chang, Xuankai and Wichern, Gordon and Jung, Jee-weon and Germain, Francois and {Le Roux}, Jonathan and Watanabe, Shinji},
    • title = {{BEATs-based Audio Captioning Model with Instructor Embedding Supervision and ChatGPT Mix-up}},
    • institution = {DCASE2023 Challenge},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-068}
    • }
  •  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}
    • }
  •  Vaskov, S., Quirynen, R., Menner, M., Berntorp, K., "Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles", Vehicle System Dynamics, DOI: 10.1080/​00423114.2023.2219791, May 2023.
    BibTeX TR2023-064 PDF
    • @article{Vaskov2023may2,
    • author = {Vaskov, Sean and Quirynen, Rien and Menner, Marcel and Berntorp, Karl},
    • title = {{Friction-Adaptive Stochastic Nonlinear Model Predictive Control for Autonomous Vehicles}},
    • journal = {Vehicle System Dynamics},
    • year = 2023,
    • month = may,
    • doi = {10.1080/00423114.2023.2219791},
    • url = {https://www.merl.com/publications/TR2023-064}
    • }
  •  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}
    • }
  •  Chinchilla, R., Deshpande, V.M., Chakrabarty, A., Laughman, C.R., "Learning Residual Dynamics via Physics-Augmented Neural Networks: Application to Vapor Compression Cycles", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10155954, May 2023, pp. 4069-4076.
    BibTeX TR2023-051 PDF
    • @inproceedings{Chinchilla2023may,
    • author = {Chinchilla, Raphael and Deshpande, Vedang M. and Chakrabarty, Ankush and Laughman, Christopher R.},
    • title = {{Learning Residual Dynamics via Physics-Augmented Neural Networks: Application to Vapor Compression Cycles}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {4069--4076},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC55779.2023.10155954},
    • issn = {2378-5861},
    • isbn = {978-1-6654-6952-4},
    • url = {https://www.merl.com/publications/TR2023-051}
    • }
  •  Farakhor, A., Wang, Y., Wu, D., Fang, H., "Distributed Optimal Power Management for Battery Energy Storage Systems: A Novel Accelerated Tracking ADMM Approach", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10156008, May 2023.
    BibTeX TR2023-054 PDF
    • @inproceedings{Farakhor2023may,
    • author = {Farakhor, Amir and Wang, Yebin and Wu, Di and Fang, Huazhen},
    • title = {{Distributed Optimal Power Management for Battery Energy Storage Systems: A Novel Accelerated Tracking ADMM Approach}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC55779.2023.10156008},
    • issn = {2378-5861},
    • url = {https://www.merl.com/publications/TR2023-054}
    • }
  •  Greiff, M., Vinod, A.P., Nabi, S., Cairano, S., "Quadrotor Motion Planning in Stochastic Wind Fields", American Control Conference (ACC), May 2023, pp. 4619 - 4625.
    BibTeX TR2023-056 PDF
    • @inproceedings{Greiff2023may,
    • author = {Greiff, Marcus and Vinod, Abraham P. and Nabi, Saleh and Cairano, Stefano},
    • title = {{Quadrotor Motion Planning in Stochastic Wind Fields}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {4619 -- 4625},
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-056}
    • }
  •  Kong, C., Yerazunis, W.S., Nikovski, D., "Learning Object Manipulation With Under-Actuated Impulse Generator Arrays", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10156322, May 2023, pp. 710-717.
    BibTeX TR2023-053 PDF
    • @inproceedings{Kong2023may,
    • author = {Kong, Chuizheng and Yerazunis, William S. and Nikovski, Daniel},
    • title = {{Learning Object Manipulation With Under-Actuated Impulse Generator Arrays}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {710--717},
    • month = may,
    • doi = {10.23919/ACC55779.2023.10156322},
    • url = {https://www.merl.com/publications/TR2023-053}
    • }
  •  Ngheim, T.X., Drgona, J., Jones, C., Nagy, Z., Schwan, R., Dey, B., Chakrabarty, A., Di Cairano, S., Paulson, J.A., Carron, A., Zeilinger, M., Cortez, W.S., Vrabie, D.L., "Physics-Informed Machine Learning for Modeling and Control of Dynamical Systems", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10155901, May 2023.
    BibTeX TR2023-052 PDF
    • @inproceedings{Ngheim2023may,
    • author = {Ngheim, Truong X. and Drgona, Jan and Jones, Colin and Nagy, Zoltan and Schwan, Roland and Dey, Biswadip and Chakrabarty, Ankush and {Di Cairano}, Stefano and Paulson, Joel A. and Carron, Andrea and Zeilinger, Melanie and Cortez, Wenceslaw S. and Vrabie, Draguna L.},
    • title = {{Physics-Informed Machine Learning for Modeling and Control of Dynamical Systems}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • month = may,
    • doi = {10.23919/ACC55779.2023.10155901},
    • url = {https://www.merl.com/publications/TR2023-052}
    • }
  •  Paulson, J.A., Sorouifar, F., Laughman, C.R., Chakrabarty, A., "LSR-BO: Local Search Region Constrained Bayesian Optimization for Performance Optimization of Vapor Compression Systems", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10155821, May 2023.
    BibTeX TR2023-057 PDF
    • @inproceedings{Paulson2023may,
    • author = {Paulson, Joel A. and Sorouifar, Farshud and Laughman, Christopher R. and Chakrabarty, Ankush},
    • title = {{LSR-BO: Local Search Region Constrained Bayesian Optimization for Performance Optimization of Vapor Compression Systems}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • month = may,
    • doi = {10.23919/ACC55779.2023.10155821},
    • url = {https://www.merl.com/publications/TR2023-057}
    • }
  •  Petersen, C., Caverly, R., Phillips, S., Weiss, A., "Safe and Constrained Rendezvous, Proximity Operations, and Docking", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10155826, May 2023, pp. 3645-3661.
    BibTeX TR2024-016 PDF
    • @inproceedings{Petersen2023may,
    • author = {Petersen, Chris and Caverly, Ryan and Phillips, Sean and Weiss, Avishai},
    • title = {{Safe and Constrained Rendezvous, Proximity Operations, and Docking}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {3645--3661},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC55779.2023.10155826},
    • issn = {2378-5861},
    • isbn = {979-8-3503-2806-6},
    • url = {https://www.merl.com/publications/TR2024-016}
    • }
  •  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}
    • }
  •  Skibik, T., Vinod, A.P., Weiss, A., Di Cairano, S., "MPC with Integrated Evasive Maneuvers for Failure-safe Automated Driving", American Control Conference (ACC), May 2023, pp. 1122-1128.
    BibTeX TR2023-055 PDF
    • @inproceedings{Skibik2023may,
    • author = {Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and {Di Cairano}, Stefano},
    • title = {{MPC with Integrated Evasive Maneuvers for Failure-safe Automated Driving}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {1122--1128},
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-055}
    • }
  •  Suriyarachchi, N., Quirynen, R., Baras, J.S., Di Cairano, S., ,, "Optimization-based Coordination and Control of Traffic Lights and Mixed Traffic in Multi-Intersection Environments", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10156306, May 2023, pp. 3162-3168.
    BibTeX TR2023-059 PDF
    • @inproceedings{Suriyarachchi2023may,
    • author = {Suriyarachchi, Nilesh and Quirynen, Rien and Baras, John S. and {Di Cairano}, Stefano and},
    • title = {{Optimization-based Coordination and Control of Traffic Lights and Mixed Traffic in Multi-Intersection Environments}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {3162--3168},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC55779.2023.10156306},
    • url = {https://www.merl.com/publications/TR2023-059}
    • }
  •  Vinod, A.P., Di Cairano, S., "Sample quantile-based programming for non-convex separable chance constraints", American Control Conference (ACC), May 2023, pp. 1517-1522.
    BibTeX TR2023-062 PDF
    • @inproceedings{Vinod2023may,
    • author = {Vinod, Abraham P. and {Di Cairano}, Stefano},
    • title = {{Sample quantile-based programming for non-convex separable chance constraints}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {1517--1522},
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-062}
    • }
  •  You, S., Greiff, M., Quirynen, R., Ran, S., Wang, Y., Berntorp, K., Dai, R., Di Cairano, S., "Integral Action NMPC for Tight Maneuvers of Articulated Vehicles", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10156543, May 2023.
    BibTeX TR2023-058 PDF
    • @inproceedings{You2023may,
    • author = {You, Sixiong and Greiff, Marcus and Quirynen, Rien and Ran, Shuangxuan and Wang, Yebin and Berntorp, Karl and Dai, Ran and {Di Cairano}, Stefano},
    • title = {{Integral Action NMPC for Tight Maneuvers of Articulated Vehicles}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • month = may,
    • doi = {10.23919/ACC55779.2023.10156543},
    • issn = {2378-5861},
    • url = {https://www.merl.com/publications/TR2023-058}
    • }
  •  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}
    • }
  •  Cherian, A., Jain, S., Marks, T.K., Sullivan, A., "Discriminative 3D Shape Modeling for Few-Shot Instance Segmentation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160644, May 2023, pp. 9296-9302.
    BibTeX TR2023-010 PDF Presentation
    • @inproceedings{Cherian2023may,
    • author = {Cherian, Anoop and Jain, Siddarth and Marks, Tim K. and Sullivan, Alan},
    • title = {{Discriminative 3D Shape Modeling for Few-Shot Instance Segmentation}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {9296--9302},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160644},
    • url = {https://www.merl.com/publications/TR2023-010}
    • }
  •  Curtis, A., Kaelbling, L., Jain, S., "Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160306, May 2023, pp. 3721-3728.
    BibTeX TR2023-046 PDF
    • @inproceedings{Curtis2023may,
    • author = {Curtis, Aidan and Kaelbling, Leslie and Jain, Siddarth},
    • title = {{Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {3721--3728},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160306},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-046}
    • }
  •  Haruna, M., Ogino, M., Tagashira, S., Kashiwa, M., Morita, S., Koike-Akino, T., Imai, K., Zuho, T., Makita, M., Takahashi, Y., "Avatar Technologies of Team LAST MILE Toward Mobile Smart Device Operation Service", IEEE International Conference on Robotics and Automation (ICRA), May 2023.
    BibTeX TR2023-047 PDF
    • @inproceedings{Haruna2023may,
    • author = {Haruna, Masaki and Ogino, Masaki and Tagashira, Shigeaki and Kashiwa, Munetaka and Morita, Susumu and Koike-Akino, Toshiaki and Imai, Kota and Zuho, Tiancheng and Makita, Masashi and Takahashi, Yasutake},
    • title = {{Avatar Technologies of Team LAST MILE Toward Mobile Smart Device Operation Service}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-047}
    • }
  •  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}
    • }
  •  Ota, K., Tung, H.-Y., Smith, K., Cherian, A., Marks, T.K., Sullivan, A., Kanezaki, A., Tenenbaum, J.B., "H-SAUR: Hypothesize, Simulate, Act, Update, and Repeat for Understanding Object Articulations from Interactions", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160575, May 2023, pp. 7272-7278.
    BibTeX TR2023-009 PDF
    • @inproceedings{Ota2023may,
    • author = {Ota, Kei and Tung, Hsiao-Yu and Smith, Kevin and Cherian, Anoop and Marks, Tim K. and Sullivan, Alan and Kanezaki, Asako and Tenenbaum, Joshua B.},
    • title = {{H-SAUR: Hypothesize, Simulate, Act, Update, and Repeat for Understanding Object Articulations from Interactions}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {7272--7278},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160575},
    • url = {https://www.merl.com/publications/TR2023-009}
    • }