Publications

74 / 3,799 publications found.


  •  Chakrabarty, A., Quirynen, R., Romeres, D., Di Cairano, S., "Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC", IEEE International Conference on Systems, Man, and Cybernetics, DOI: 10.1109/​SMC52423.2021.9659186, October 2021, pp. 3238-3244.
    BibTeX TR2021-126 PDF Video
    • @inproceedings{Chakrabarty2021oct,
    • author = {Chakrabarty, Ankush and Quirynen, Rien and Romeres, Diego and {Di Cairano}, Stefano},
    • title = {{Learning Disagreement Regions with Deep Neural Networks to Reduce Practical Complexity of Mixed-Integer MPC}},
    • booktitle = {IEEE International Conference on Systems, Man, and Cybernetics},
    • year = 2021,
    • pages = {3238--3244},
    • month = oct,
    • doi = {10.1109/SMC52423.2021.9659186},
    • url = {https://www.merl.com/publications/TR2021-126}
    • }
  •  Amadio, F., Dalla Libera, A., Carli, R., Romeres, D., "Model-Based Reinforcement Learning Using Monte Carlo Gradient Estimation", Automatica.it, September 2021.
    BibTeX TR2021-108 PDF
    • @inproceedings{Amadio2021sep,
    • author = {Amadio, Fabio and Dalla Libera, Alberto and Carli, Ruggero and Romeres, Diego},
    • title = {{Model-Based Reinforcement Learning Using Monte Carlo Gradient Estimation}},
    • booktitle = {Automatica.it},
    • year = 2021,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2021-108}
    • }
  •  Dalla Libera, A., Amadio, F., Nikovski, D.N., Carli, R., Romeres, D., "Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models", European Control Conference (ECC), DOI: 10.23919/​ECC54610.2021.9654429, June 2021.
    BibTeX TR2021-068 PDF Video
    • @inproceedings{DallaLibera2021jun,
    • author = {Dalla Libera, Alberto and Amadio, Fabio and Nikovski, Daniel N. and Carli, Ruggero and Romeres, Diego},
    • title = {{Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2021,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC54610.2021.9654429},
    • isbn = {978-9-4638-4236-5},
    • url = {https://www.merl.com/publications/TR2021-068}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package", arXiv, June 2021.
    BibTeX arXiv
    • @article{Raghunathan2021jun,
    • author = {Raghunathan, Arvind and Jha, Devesh K. 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.K., Tomizuka, M., "Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48506.2021.9561556, June 2021.
    BibTeX TR2021-072 PDF Video
    • @inproceedings{Jin2021jun,
    • author = {Jin, Shiyu and Romeres, Diego and Raghunathan, Arvind and Jha, Devesh K. 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,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48506.2021.9561556},
    • issn = {2577-087X},
    • isbn = {978-1-7281-9077-8},
    • url = {https://www.merl.com/publications/TR2021-072}
    • }
  •  Dong, S., Jha, D.K., 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), DOI: 10.1109/​ICRA48506.2021.9561646, May 2021.
    BibTeX TR2021-052 PDF Video
    • @inproceedings{Dong2021may,
    • author = {Dong, Siyuan and Jha, Devesh K. 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,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48506.2021.9561646},
    • issn = {2577-087X},
    • isbn = {978-1-7281-9077-8},
    • url = {https://www.merl.com/publications/TR2021-052}
    • }
  •  Laftchiev, E., Romeres, D., Nikovski, D.N., "Dynamic Thermal Comfort Optimization for Groups", American Control Conference (ACC), DOI: 10.23919/​ACC50511.2021.9483191, May 2021.
    BibTeX TR2021-057 PDF
    • @inproceedings{Laftchiev2021may,
    • author = {Laftchiev, Emil and Romeres, Diego and Nikovski, Daniel N.},
    • title = {{Dynamic Thermal Comfort Optimization for Groups}},
    • booktitle = {American Control Conference (ACC)},
    • year = 2021,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.23919/ACC50511.2021.9483191},
    • issn = {2378-5861},
    • isbn = {978-1-6654-4197-1},
    • url = {https://www.merl.com/publications/TR2021-057}
    • }
  •  Ota, K., Jha, D.K., Romeres, D., van Baar, J., Smith, K., Semistsu, T., Oiki, T., Sullivan, A., Nikovski, D.N., Tenenbaum, J.B., "Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation", IEEE Robotics and Automation Letters, DOI: 10.1109/​LRA.2021.3068887, Vol. 6, No. 2, March 2021.
    BibTeX TR2021-032 PDF Video Software
    • @article{Ota2021mar,
    • author = {Ota, Kei and Jha, Devesh K. and Romeres, Diego and {van Baar}, Jeroen and Smith, Kevin and Semistsu, Takayuki and Oiki, Tomoaki and Sullivan, Alan and Nikovski, Daniel N. and Tenenbaum, Joshua B.},
    • title = {{Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation}},
    • journal = {IEEE Robotics and Automation Letters},
    • year = 2021,
    • volume = 6,
    • number = 2,
    • month = mar,
    • doi = {10.1109/LRA.2021.3068887},
    • url = {https://www.merl.com/publications/TR2021-032}
    • }
  •  Laftchiev, E., Romeres, D., Nikovski, D.N., "Personalizing Individual Comfort in the Group Setting", Innovative Applications of Artificial Intelligence (IAAI), February 2021.
    BibTeX TR2021-011 PDF
    • @inproceedings{Laftchiev2021feb,
    • author = {Laftchiev, Emil and Romeres, Diego and Nikovski, Daniel N.},
    • title = {{Personalizing Individual Comfort in the Group Setting}},
    • booktitle = {Innovative Applications of Artificial Intelligence (IAAI)},
    • year = 2021,
    • month = feb,
    • url = {https://www.merl.com/publications/TR2021-011}
    • }
  •  Romeres, D., Amadio, F., Dalla Libera, A., Nikovski, D.N., Carli, R., "Model-based Policy Search for Partially Measurable Systems", Advances in Neural Information Processing Systems (NeurIPS), December 2020.
    BibTeX TR2020-174 PDF
    • @inproceedings{Romeres2020dec2,
    • author = {Romeres, Diego and Amadio, Fabio and Dalla Libera, Alberto and Nikovski, Daniel N. and Carli, Ruggero},
    • title = {{Model-based Policy Search for Partially Measurable Systems}},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS)},
    • year = 2020,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2020-174}
    • }
  •  Romeres, D., Dalla Libera, A., Amadio, F., Carli, R., "Feedback Linearization Robot Control based on Gaussian Process Inverse Dynamics Model", Conferenza Italiana di Robotica e Macchine Intelligenti, December 2020.
    BibTeX TR2020-173 PDF
    • @inproceedings{Romeres2020dec,
    • author = {Romeres, Diego and Dalla Libera, Alberto and Amadio, Fabio and Carli, Ruggero},
    • title = {{Feedback Linearization Robot Control based on Gaussian Process Inverse Dynamics Model}},
    • booktitle = {Conferenza Italiana di Robotica e Macchine Intelligenti},
    • year = 2020,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2020-173}
    • }
  •  Romeres, D., Liu, Y., Jha, D.K., Nikovski, D.N., "Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks", Robotics: Science and Systems, July 2020.
    BibTeX TR2020-110 PDF
    • @inproceedings{Romeres2020jul,
    • author = {Romeres, Diego and Liu, Yifang and Jha, Devesh K. and Nikovski, Daniel N.},
    • title = {{Understanding Multi-Modal Perception Using Behavioral Cloning for Peg-In-a-Hole Insertion Tasks}},
    • booktitle = {Robotics: Science and Systems},
    • year = 2020,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2020-110}
    • }
  •  Jha, D.K., Kolaric, P., Raghunathan, A., Lewis, F., Benosman, M., Romeres, D., Nikovski, D.N., "Local Policy Optimization for Trajectory-Centric Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA), Ayanna Howard, Eds., May 2020, pp. 5094-5100.
    BibTeX TR2020-062 PDF
    • @inproceedings{Jha2020may,
    • author = {Jha, Devesh K. and Kolaric, Patrik and Raghunathan, Arvind and Lewis, Frank and Benosman, Mouhacine and Romeres, Diego and Nikovski, Daniel N.},
    • title = {{Local Policy Optimization for Trajectory-Centric Reinforcement Learning}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2020,
    • editor = {Ayanna Howard},
    • pages = {5094--5100},
    • month = may,
    • publisher = {IEEE},
    • isbn = {978-1-7281-7395-5},
    • url = {https://www.merl.com/publications/TR2020-062}
    • }
  •  Romeres, D., Dalla Libera, A., Jha, D.K., Yerazunis, W.S., Nikovski, D.N., "Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements", Robotics and Automation Letters, DOI: 10.1109/​LRA.2020.2977255, Vol. 5, No. 2, pp. 3548-3555, May 2020.
    BibTeX TR2020-063 PDF
    • @article{Romeres2020may,
    • author = {Romeres, Diego and Dalla Libera, Alberto and Jha, Devesh K. and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {{Model-Based Reinforcement Learning for Physical Systems Without Velocity and Acceleration Measurements}},
    • journal = {Robotics and Automation Letters},
    • year = 2020,
    • volume = 5,
    • number = 2,
    • pages = {3548--3555},
    • month = may,
    • doi = {10.1109/LRA.2020.2977255},
    • issn = {2377-3766},
    • url = {https://www.merl.com/publications/TR2020-063}
    • }
  •  Jha, D.K., Kolaric, P., Romeres, D., Raghunathan, A., Benosman, M., Nikovski, D.N., "Robust Optimization for Trajectory-Centric Model-based Reinforcement Learning", NeurIPS Workshop on Safety and Robustness in Decision Making, December 2019.
    BibTeX TR2019-156 PDF
    • @inproceedings{Jha2019dec2,
    • author = {Jha, Devesh K. and Kolaric, Patrik and Romeres, Diego and Raghunathan, Arvind and Benosman, Mouhacine and Nikovski, Daniel N.},
    • title = {{Robust Optimization for Trajectory-Centric Model-based Reinforcement Learning}},
    • booktitle = {NeurIPS Workshop on Safety and Robustness in Decision Making},
    • year = 2019,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2019-156}
    • }
  •  Jha, D.K., Raghunathan, A., Romeres, D., "QNTRPO: Including Curvature in TRPO", Optimization Foundations for Reinforcement Learning Workshop at NeurIPS, December 2019.
    BibTeX TR2019-154 PDF Software
    • @inproceedings{Jha2019dec,
    • author = {Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {{QNTRPO: Including Curvature in TRPO}},
    • booktitle = {Optimization Foundations for Reinforcement Learning Workshop at NeurIPS},
    • year = 2019,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2019-154}
    • }
  •  Jha, D.K., Raghunathan, A., Romeres, D., "Quasi-Newton Trust Region Policy Optimization", Conference on Robot Learning (CoRL), Leslie Pack Kaelbling and Danica Kragic and Komei Sugiura, Eds., October 2019, pp. 945-954.
    BibTeX TR2019-120 PDF Software
    • @inproceedings{Jha2019oct,
    • author = {Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {{Quasi-Newton Trust Region Policy Optimization}},
    • booktitle = {Conference on Robot Learning (CoRL)},
    • year = 2019,
    • editor = {Leslie Pack Kaelbling and Danica Kragic and Komei Sugiura},
    • pages = {945--954},
    • month = oct,
    • publisher = {Proceedings of Machine Learning Research},
    • url = {https://www.merl.com/publications/TR2019-120}
    • }
  •  Romeres, D., Jha, D.K., Dau, H., Yerazunis, W.S., Nikovski, D.N., "Anomaly Detection for Insertion Tasks in Robotic Assembly Using Gaussian Process Models", European Control Conference (ECC), DOI: 10.23919/​ECC.2019.8795698, June 2019, pp. 1017-1022.
    BibTeX TR2019-055 PDF
    • @inproceedings{Romeres2019jun,
    • author = {Romeres, Diego and Jha, Devesh K. and Dau, Hoang and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {{Anomaly Detection for Insertion Tasks in Robotic Assembly Using Gaussian Process Models}},
    • booktitle = {European Control Conference (ECC)},
    • year = 2019,
    • pages = {1017--1022},
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.23919/ECC.2019.8795698},
    • isbn = {978-3-907144-00-8},
    • url = {https://www.merl.com/publications/TR2019-055}
    • }
  •  Romeres, D., Jha, D.K., Dalla Libera, A., Yerazunis, W.S., Nikovski, D.N., "Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA.2019.8794229, May 2019, pp. 3195-3202.
    BibTeX TR2019-028 PDF Video Software
    • @inproceedings{Romeres2019may,
    • author = {Romeres, Diego and Jha, Devesh K. and Dalla Libera, Alberto and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {{Semiparametrical Gaussian Processes Learning of Forward Dynamical Models for Navigating in a Circular Maze}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2019,
    • pages = {3195--3202},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA.2019.8794229},
    • issn = {2577-087X},
    • isbn = {978-1-5386-6027-0},
    • url = {https://www.merl.com/publications/TR2019-028}
    • }
  •  van Baar, J., Sullivan, A., Corcodel, R., Jha, D.K., Romeres, D., Nikovski, D.N., "Sim-to-Real Transfer Learning using Robustified Controllers in Robotic Tasks involving Complex Dynamics", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA.2019.8793561, May 2019, pp. 6001-6007.
    BibTeX TR2018-202 PDF Video Software
    • @inproceedings{vanBaar2019may,
    • author = {{van Baar}, Jeroen and Sullivan, Alan and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and Nikovski, Daniel N.},
    • title = {{Sim-to-Real Transfer Learning using Robustified Controllers in Robotic Tasks involving Complex Dynamics}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2019,
    • pages = {6001--6007},
    • month = may,
    • doi = {10.1109/ICRA.2019.8793561},
    • url = {https://www.merl.com/publications/TR2018-202}
    • }
  •  Romeres, D., Zorzi, M., Camoriano, R., Traversaro, S., Chiuso, A., "Derivative-free online learning of inverse dynamics models", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2019.2891222, March 2019.
    BibTeX TR2018-201 PDF
    • @article{Romeres2019mar,
    • author = {Romeres, Diego and Zorzi, Mattia and Camoriano, Raffaello and Traversaro, Silvio and Chiuso, Alessandro},
    • title = {{Derivative-free online learning of inverse dynamics models}},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2019,
    • month = mar,
    • doi = {10.1109/TCST.2019.2891222},
    • url = {https://www.merl.com/publications/TR2018-201}
    • }
  •  Romeres, D.., Jha, D.K., Dalla Libera, A., Chiuso, A., Nikovski, D.N., "Derivative-Free Semiparametric Bayesian Models for Robot Learning", Advances in Neural Information Processing Systems (NIPS), December 2018.
    BibTeX TR2018-165 PDF
    • @inproceedings{Romeres2018dec,
    • author = {Romeres, Diego and Jha, Devesh K. and Dalla Libera, Alberto and Chiuso, Alessandro and Nikovski, Daniel N.},
    • title = {{Derivative-Free Semiparametric Bayesian Models for Robot Learning}},
    • booktitle = {Advances in Neural Information Processing Systems (NIPS)},
    • year = 2018,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2018-165}
    • }
  •  Jha, D.K., Romeres, D., van Baar, J., Sullivan, A., Nikovski, D.N., "Learning Tasks in a Complex Circular Maze Environment", NIPS Workshop on Modeling the Physical World: Perception, Learning, and Control, December 2018.
    BibTeX TR2018-169 PDF
    • @inproceedings{vanBaar2018dec,
    • author = {Jha, Devesh K. and Romeres, Diego and {van Baar}, Jeroen and Sullivan, Alan and Nikovski, Daniel N.},
    • title = {{Learning Tasks in a Complex Circular Maze Environment}},
    • booktitle = {NIPS Workshop on Modeling the Physical World: Perception, Learning, and Control},
    • year = 2018,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2018-169}
    • }
  •  van Baar, J., Corcodel, R., Sullivan, A., Jha, D.K., Romeres, D., Nikovski, D.N., "Simulation to Real Transfer Learning with Robustified Policies for Robot Tasks", arXiv, September 2018.
    BibTeX arXiv
    • @article{vanBaar2018sep,
    • author = {{van Baar}, Jeroen and Corcodel, Radu and Sullivan, Alan and Jha, Devesh K. and Romeres, Diego and Nikovski, Daniel N.},
    • title = {{Simulation to Real Transfer Learning with Robustified Policies for Robot Tasks}},
    • journal = {arXiv},
    • year = 2018,
    • month = sep,
    • url = {https://arxiv.org/abs/1809.04720}
    • }