Publications

3,875 major publications by members of the MERL staff.


  •  Giacomuzzo, G., Pegoraro, G., Terreran, M., Ghidoni, S., Carli, R., Romeres, D., "E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly", IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, May 2025.
    BibTeX TR2025-066 PDF
    • @inproceedings{Giacomuzzo2025may,
    • author = {Giacomuzzo, Giulio and Pegoraro, Giulia and Terreran, Matteo and Ghidoni, Stefano and Carli, Ruggero and Romeres, Diego},
    • title = {{E-UHTP: An Extended Human-Aware Task Planner for Communication-Free Collaborative Assembly}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-066}
    • }
  •  Lu, K., Ma, C., Hori, C., Romeres, D., "KitchenVLA: Iterative Vision-Language Corrections for Robotic Execution of Human Tasks", IEEE International Conference on Robotics and Automation Workshop on Safely Leveraging Vision-Language Foundation Models in Robotics (SafeLVMs@ICRA), May 2025.
    BibTeX TR2025-068 PDF
    • @inproceedings{Lu2025may,
    • author = {Lu, Kai and Ma, Chenyang and Hori, Chiori and Romeres, Diego},
    • title = {{KitchenVLA: Iterative Vision-Language Corrections for Robotic Execution of Human Tasks}},
    • booktitle = {IEEE International Conference on Robotics and Automation Workshop on Safely Leveraging Vision-Language Foundation Models in Robotics (SafeLVMs@ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-068}
    • }
  •  Giacomuzzo, G., Romeres, D., Carli, R., Dalla Libera, A., "Embedding Physical Consistency in Black-Box Inverse Dynamics Learning", IEEE International Conference on Robotics and Automation (ICRA) Workshop on Structured Learning for Efficient, Reliable, and Transparent Robots, May 2025.
    BibTeX
    • @inproceedings{Giacomuzzo2025may2,
    • author = {{{Giacomuzzo, Giulio and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto}}},
    • title = {{{Embedding Physical Consistency in Black-Box Inverse Dynamics Learning}}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) Workshop on Structured Learning for Efficient, Reliable, and Transparent Robots},
    • year = 2025,
    • month = may
    • }
  •  Elango, P., Vinod, A.P., Kitamura, K., Açıkmeşe, B., Di Cairano, S., Weiss, A., "Successive Convexification for Passively-Safe Spacecraft Rendezvous on Near Rectilinear Halo Orbit", arXiv, May 2025.
    BibTeX arXiv
    • @article{Elango2025may,
    • author = {Elango, Purnanand and Vinod, Abraham P. and Kitamura, Kenji and Açıkmeşe, Behcet and {Di Cairano}, Stefano and Weiss, Avishai},
    • title = {{Successive Convexification for Passively-Safe Spacecraft Rendezvous on Near Rectilinear Halo Orbit}},
    • journal = {arXiv},
    • year = 2025,
    • month = may,
    • url = {https://arxiv.org/abs/2505.17251}
    • }
  •  Rashid, M.R.U., Dasu, V.A., Wang, Y., Tan, G.G., Mehnaz, S., "Trust Me, I Can Handle It: Self-Generated Adversarial Scenario Extrapolation for Robust Language Models", arXiv, May 2025.
    BibTeX arXiv
    • @article{Rashid2025may,
    • author = {Rashid, Md Rafi Ur and Dasu, Vishnu Asutosh and Wang, Ye and Tan, G. Gary and Mehnaz, Shagufta},
    • title = {{Trust Me, I Can Handle It: Self-Generated Adversarial Scenario Extrapolation for Robust Language Models}},
    • journal = {arXiv},
    • year = 2025,
    • month = may,
    • url = {https://www.arxiv.org/abs/2505.17089}
    • }
  •  De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Romeres, D., "PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
    BibTeX TR2025-064 PDF Video
    • @inproceedings{DeLazzari2025may,
    • author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
    • title = {{PACE: Proactive Assistance in Human-Robot Collaboration through Action-Completion Estimation}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-064}
    • }
  •  Giammarino, V., Queeney, J., Paschalidis, I.C., "Visually Robust Adversarial Imitation Learning from Videos with Contrastive Learning", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
    BibTeX TR2025-065 PDF
    • @inproceedings{Giammarino2025may,
    • author = {Giammarino, Vittorio and Queeney, James and Paschalidis, Ioannis Ch.},
    • title = {{Visually Robust Adversarial Imitation Learning from Videos with Contrastive Learning}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-065}
    • }
  •  Zhou, Z., Di Cairano, S., Wang, Y., Berntorp, K., "Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
    BibTeX TR2025-063 PDF
    • @inproceedings{Zhou2025may,
    • author = {Zhou, Ziyi and {Di Cairano}, Stefano and Wang, Yebin and Berntorp, Karl},
    • title = {{Simultaneous Collision Detection and Force Estimation for Dynamic Quadrupedal Locomotion}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-063}
    • }
  •  Ick, C., Wichern, G., Masuyama, Y., Germain, F.G., Le Roux, J., "Direction-Aware Neural Acoustic Fields for Few-Shot Interpolation of Ambisonic Impulse Responses", arXiv, May 2025.
    BibTeX arXiv
    • @article{Ick2025may,
    • author = {Ick, Christopher and Wichern, Gordon and Masuyama, Yoshiki and Germain, François G and {Le Roux}, Jonathan},
    • title = {{Direction-Aware Neural Acoustic Fields for Few-Shot Interpolation of Ambisonic Impulse Responses}},
    • journal = {arXiv},
    • year = 2025,
    • month = may,
    • url = {https://arxiv.org/abs/2505.13617}
    • }
  •  Ji, D.-Y., Wang, B., Inoue, H., Kanemaru, M., "Motor Fault Detection with a Hybrid Physics-based and Data-Driven Method", IEEE International Electric Machines and Drives Conference (IEMDC), May 2025.
    BibTeX TR2025-062 PDF
    • @inproceedings{Ji2025may,
    • author = {Ji, Dai-Yan and Wang, Bingnan and Inoue, Hiroshi and Kanemaru, Makoto},
    • title = {{Motor Fault Detection with a Hybrid Physics-based and Data-Driven Method}},
    • booktitle = {IEEE International Electric Machines and Drives Conference (IEMDC)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-062}
    • }
  •  Sun, S., Wang, Y., Koike-Akino, T., Yamamoto, T., Sakamoto, Y., Wang, B., "Electric Motor Cogging Torque Prediction with Vision Transformer Models", IEEE International Electric Machines and Drives Conference (IEMDC), May 2025.
    BibTeX TR2025-059 PDF
    • @inproceedings{Sun2025may,
    • author = {Sun, Siyuan and Wang, Ye and Koike-Akino, Toshiaki and Yamamoto, Tatsuya and Sakamoto, Yusuke and Wang, Bingnan},
    • title = {{Electric Motor Cogging Torque Prediction with Vision Transformer Models}},
    • booktitle = {IEEE International Electric Machines and Drives Conference (IEMDC)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-059}
    • }
  •  Wu, J., Goldsmith, A., Liu, D., Wang, B., Zhou, L., Wang, Y., "A Unified Observer for Smooth Speed-Sensorless Drive Control of Induction Machines at Full Speed Range", IEEE International Electric Machines and Drives Conference (IEMDC), May 2025.
    BibTeX TR2025-060 PDF
    • @inproceedings{Wu2025may,
    • author = {Wu, Jingjie and Goldsmith, Abraham and Liu, Dehong and Wang, Bingnan and Zhou, Lei and Wang, Yebin},
    • title = {{A Unified Observer for Smooth Speed-Sensorless Drive Control of Induction Machines at Full Speed Range}},
    • booktitle = {IEEE International Electric Machines and Drives Conference (IEMDC)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-060}
    • }
  •  Wu, J., Goldsmith, A., Zhou, L., Liu, D., Wang, B., Wang, Y., "A Novel High-Frequency Injection Method Towards Speed-Sensorless Drive Control of Induction Machines over Full Speed Range", IEEE International Electric Machines and Drives Conference (IEMDC), May 2025.
    BibTeX TR2025-061 PDF
    • @inproceedings{Wu2025may2,
    • author = {Wu, Jingjie and Goldsmith, Abraham and Zhou, Lei and Liu, Dehong and Wang, Bingnan and Wang, Yebin},
    • title = {{A Novel High-Frequency Injection Method Towards Speed-Sensorless Drive Control of Induction Machines over Full Speed Range}},
    • booktitle = {IEEE International Electric Machines and Drives Conference (IEMDC)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-061}
    • }
  •  Singh, A., Jones, M.J., Peng, K.-C., Chatterjee, M., Cherian, A., Learned-Miller, E., "Improving Open-World Object Localization by Discovering Background", CVPR Workshop on Domain Generalization: Evolution, Breakthroughs and Future Horizon, May 2025.
    BibTeX TR2025-058 PDF
    • @inproceedings{Singh2025may,
    • author = {Singh, Ashish and Jones, Michael J. and Peng, Kuan-Chuan and Chatterjee, Moitreya and Cherian, Anoop and Learned-Miller, Erik},
    • title = {{Improving Open-World Object Localization by Discovering Background}},
    • booktitle = {CVPR Workshop on Domain Generalization: Evolution, Breakthroughs and Future Horizon},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-058}
    • }
  •  Basu, S., Lohit, S., Brand, M., "G-RepsNet: A Lightweight Construction of Equivariant Net- works for Arbitrary Matrix Groups", Transactions on Machine Learning Research (TMLR), May 2025.
    BibTeX TR2025-056 PDF Software
    • @article{Basu2025may,
    • author = {Basu, Sourya and Lohit, Suhas and Brand, Matthew},
    • title = {{G-RepsNet: A Lightweight Construction of Equivariant Net- works for Arbitrary Matrix Groups}},
    • journal = {Transactions on Machine Learning Research (TMLR)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-056}
    • }
  •  Bronars, A., Corcodel, R., Jha, D.K., "High-Accuracy Tactile Pose Estimation for Connector Assembly", ICRA 2025 Workshop on “Towards Human Level Intelligence Vision and Tactile Sensing”, May 2025.
    BibTeX TR2025-057 PDF
    • @inproceedings{Bronars2025may,
    • author = {Bronars, Antonia and Corcodel, Radu and Jha, Devesh K.},
    • title = {{High-Accuracy Tactile Pose Estimation for Connector Assembly}},
    • booktitle = {ICRA 2025 Workshop on “Towards Human Level Intelligence Vision and Tactile Sensing”},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-057}
    • }
  •  Pan, C."., Brand, M., "Inverse Design of Multilayer Broadband “RGBP” Freeform Metalens for Dual-Functional Color-sorting and Polarization Imaging", Conference on Lasers and Electro-Optics (CLEO), May 2025.
    BibTeX TR2025-055 PDF
    • @inproceedings{Pan2025may,
    • author = {Pan, Cindy "Hsin" and Brand, Matthew},
    • title = {{Inverse Design of Multilayer Broadband “RGBP” Freeform Metalens for Dual-Functional Color-sorting and Polarization Imaging}},
    • booktitle = {Conference on Lasers and Electro-Optics (CLEO)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-055}
    • }
  •  Masuyama, Y., Chang, X., Zhang, W., Cornell, S., Wang, Z.-Q., Ono, N., Qian, Y., Watanabe, S., "An End-to-End Integration of Speech Separation and Recognition with Self-Supervised Learning Representation", Computer Speech & Language, DOI: 10.1016/​j.csl.2025.101813, Vol. 95, pp. 101813, May 2025.
    BibTeX TR2025-054 PDF
    • @article{Masuyama2025may,
    • author = {Masuyama, Yoshiki and Chang, Xuankai and Zhang, Wangyou and Cornell, Samuele and Wang, Zhong-Qiu and Ono, Nobutaka and Qian, Yanmin and Watanabe, Shinji},
    • title = {{An End-to-End Integration of Speech Separation and Recognition with Self-Supervised Learning Representation}},
    • journal = {Computer Speech \& Language},
    • year = 2025,
    • volume = 95,
    • pages = 101813,
    • month = may,
    • doi = {10.1016/j.csl.2025.101813},
    • issn = {0885-2308},
    • url = {https://www.merl.com/publications/TR2025-054}
    • }
  •  Chen, Y., Jha, D.K., Tomizuka, M., Romeres, D., "FDPP: Fine-tune Diffusion Policy with Human Preference", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
    BibTeX TR2025-053 PDF Video
    • @inproceedings{Chen2025may,
    • author = {Chen, Yuxin and Jha, Devesh K. and Tomizuka, Masayoshi and Romeres, Diego},
    • title = {{FDPP: Fine-tune Diffusion Policy with Human Preference}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-053}
    • }
  •  Shirai, Y., Raghunathan, A., Jha, D.K., "Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations", IEEE International Conference on Robotics and Automation (ICRA), May 2025.
    BibTeX TR2025-052 PDF
    • @inproceedings{Shirai2025may,
    • author = {Shirai, Yuki and Raghunathan, Arvind and Jha, Devesh K.},
    • title = {{Hierarchical Contact-Rich Trajectory Optimization for Multi-Modal Manipulation using Tight Convex Relaxations}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2025,
    • month = may,
    • url = {https://www.merl.com/publications/TR2025-052}
    • }
  •  Koike-Akino, T., Tonin, F., Wu, Y., Wu, F.Z., Candogan, L.N., Cevher, V., "Quantum-PEFT: Ultra Parameter-Efficient Fine-Tuning", International Conference on Learning Representations (ICLR), April 2025.
    BibTeX TR2025-051 PDF
    • @inproceedings{Koike-Akino2025apr,
    • author = {Koike-Akino, Toshiaki and Tonin,Francesco and Wu,Yongtao and Wu,Frank Zhengqing and Candogan,Leyla Naz and Cevher, Volkan},
    • title = {{Quantum-PEFT: Ultra Parameter-Efficient Fine-Tuning}},
    • booktitle = {International Conference on Learning Representations (ICLR)},
    • year = 2025,
    • month = apr,
    • url = {https://www.merl.com/publications/TR2025-051}
    • }
  •  Tang, H., Ellis, K., Lohit, S., Jones, M.J., Chatterjee, M., "Programmatic Video Prediction Using Large Language Models", International Conference on Learning Representations Workshops (ICLRW), April 2025.
    BibTeX TR2025-049 PDF
    • @inproceedings{Tang2025apr,
    • author = {Tang, Hao and Ellis, Kevin and Lohit, Suhas and Jones, Michael J. and Chatterjee, Moitreya},
    • title = {{Programmatic Video Prediction Using Large Language Models}},
    • booktitle = {International Conference on Learning Representations Workshops (ICLRW)},
    • year = 2025,
    • month = apr,
    • url = {https://www.merl.com/publications/TR2025-049}
    • }
  •  Kitichotkul, R., Rapp, J., Ma, Y., Mansour, H., "Simultaneous Range and Velocity Measurement with Doppler Single-Photon Lidar", Optica, DOI: 10.1364/​OPTICA.555984, Vol. 12, pp. 604-613, April 2025.
    BibTeX TR2025-050 PDF
    • @article{Kitichotkul2025apr,
    • author = {Kitichotkul, Ruangrawee and Rapp, Joshua and Ma, Yanting and Mansour, Hassan},
    • title = {{Simultaneous Range and Velocity Measurement with Doppler Single-Photon Lidar}},
    • journal = {Optica},
    • year = 2025,
    • volume = 12,
    • pages = {604--613},
    • month = apr,
    • doi = {10.1364/OPTICA.555984},
    • url = {https://www.merl.com/publications/TR2025-050}
    • }
  •  Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Contact-rich Manipulation with High-Fidelity Geometry", IEEE Transactions on Robotics (T-RO), April 2025.
    BibTeX TR2025-047 PDF
    • @article{Zhang2025apr,
    • 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}},
    • journal = {IEEE Transactions on Robotics (T-RO)},
    • year = 2025,
    • month = apr,
    • url = {https://www.merl.com/publications/TR2025-047}
    • }
  •  Lin, C., Boufounos, P.T., Ma, Y., Wang, Y., Ding, Q., Sels, D., Chien, C.-C., "Time-optimal single-scalar control on a qubit of unitary dynamics", Physical Review, April 2025.
    BibTeX TR2025-048 PDF
    • @article{Lin2025apr2,
    • author = {Lin, Chungwei and Boufounos, Petros T. and Ma, Yanting and Wang, Yebin and Ding, Qi and Sels, Dries and Chien, Chih-Chun},
    • title = {{Time-optimal single-scalar control on a qubit of unitary dynamics}},
    • journal = {Physical Review},
    • year = 2025,
    • month = apr,
    • url = {https://www.merl.com/publications/TR2025-048}
    • }