Publications

177 / 3,623 publications found.


  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, December 2024.
    BibTeX TR2024-008 PDF
    • @article{Shirai2024dec,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming},
    • journal = {Nonlinear Analysis: Hybrid Systems},
    • year = 2024,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2024-008}
    • }
  •  Liang, B., Ota, K., Tomizuka, M., Jha, D.K., "Robust In-Hand Manipulation with Extrinsic Contacts", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
    BibTeX TR2024-061 PDF
    • @inproceedings{Liang2024may,
    • author = {Liang, Boyuan and Ota, Kei and Tomizuka, Masayoshi and Jha, Devesh K.}},
    • title = {Robust In-Hand Manipulation with Extrinsic Contacts},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • month = may,
    • url = {https://www.merl.com/publications/TR2024-061}
    • }
  •  Reiter, R., Quirynen, R., Diehl, M., Di Cairano, S., "Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning", IEEE Transactions on Control Systems Technology, May 2024.
    BibTeX TR2024-056 PDF
    • @article{Reiter2024may2,
    • author = {Reiter, Rudolf and Quirynen, Rien and Diehl, Moritz and Di Cairano, Stefano}},
    • title = {Equivariant Deep Learning of Mixed-Integer Optimal Control Solutions for Vehicle Decision Making and Motion Planning},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2024,
    • month = may,
    • url = {https://www.merl.com/publications/TR2024-056}
    • }
  •  Schperberg, A., Tanaka, Y., Mowlavi, S., Xu, F., Balaji, B., Hong, D., "OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
    BibTeX TR2024-054 PDF
    • @inproceedings{Schperberg2024may,
    • author = {Schperberg, Alexander and Tanaka, Yusuke and Mowlavi, Saviz and Xu, Feng and Balaji, Bharathan and Hong, Dennis}},
    • title = {OptiState: State Estimation of Legged Robots using Gated Networks with Transformer-based Vision and Kalman Filtering},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • month = may,
    • url = {https://www.merl.com/publications/TR2024-054}
    • }
  •  Sinhmar, H., Greiff, M., Di Cairano, S., ,, "Practical and Safe Navigation Function Based Motion Planning of UAVs", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
    BibTeX TR2024-055 PDF
    • @inproceedings{Sinhmar2024may,
    • author = {Sinhmar, Himani and Greiff, Marcus and Di Cairano, Stefano and }},
    • title = {Practical and Safe Navigation Function Based Motion Planning of UAVs},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • month = may,
    • url = {https://www.merl.com/publications/TR2024-055}
    • }
  •  Ota, K., Jha, D.K., Jatavallabhula, K., Kanezaki, A., Tenenbaum, J.B., "Tactile Estimation of Extrinsic Contact Patch for Stable Placement", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
    BibTeX TR2024-053 PDF
    • @inproceedings{Ota2024may2,
    • author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna and Kanezaki, Asako and Tenenbaum, Joshua B.}},
    • title = {Tactile Estimation of Extrinsic Contact Patch for Stable Placement},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • month = may,
    • url = {https://www.merl.com/publications/TR2024-053}
    • }
  •  Lin, H., Corcodel, R., Zhao, D., "Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
    BibTeX TR2024-051 PDF
    • @inproceedings{Lin2024may2,
    • author = {Lin, Haohong and Corcodel, Radu and Zhao, Ding}},
    • title = {Generalize by Touching: Tactile Ensemble Skill Transfer for Robotic Furniture Assembly},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • month = may,
    • url = {https://www.merl.com/publications/TR2024-051}
    • }
  •  Sun, L., Jha, D.K., Hori, C., Jain, S., Corcodel, R., Zhu, X., Tomizuka, M., Romeres, D., "Interactive Planning Using Large Language Models for Partially Observable Robotic Tasks", IEEE International Conference on Robotics and Automation (ICRA), May 2024.
    BibTeX TR2024-052 PDF
    • @inproceedings{Sun2024may,
    • author = {Sun, Lingfeng and Jha, Devesh K. and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego}},
    • title = {Interactive Planning Using Large Language Models for Partially Observable Robotic Tasks},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • month = may,
    • url = {https://www.merl.com/publications/TR2024-052}
    • }
  •  Zhu, X., Jha, D.K., Romeres, D., Sun, L., Tomizuka, M., Cherian, A., "Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection", IEEE International Conference on Robotics and Automation (ICRA), March 2024.
    BibTeX TR2024-033 PDF Video
    • @inproceedings{Zhu2024mar,
    • author = {Zhu, Xinghao and Jha, Devesh K. and Romeres, Diego and Sun, Lingfeng and Tomizuka, Masayoshi and Cherian, Anoop},
    • title = {Multi-level Reasoning for Robotic Assembly: From Sequence Inference to Contact Selection},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • month = mar,
    • url = {https://www.merl.com/publications/TR2024-033}
    • }
  •  Wang, Y., Hansen, E., Ahn, H., "Hierarchical planning for autonomous parking in dynamic environments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/​TCST.2024.3367468, March 2024.
    BibTeX TR2024-034 PDF
    • @article{Wang2024mar2,
    • author = {Wang, Yebin and Hansen, Emma and Ahn, Heejin},
    • title = {Hierarchical planning for autonomous parking in dynamic environments},
    • journal = {IEEE Transactions on Control Systems Technology},
    • year = 2024,
    • month = mar,
    • doi = {10.1109/TCST.2024.3367468},
    • issn = {1558-0865},
    • url = {https://www.merl.com/publications/TR2024-034}
    • }
  •  Kong, C., Yerazunis, W.S., Nikovski, D., "Stochastic Learning Manipulation of Object Pose With Under-Actuated Impulse Generator Arrays", International Conference on Machine Learning and Applications (ICMLA), DOI: 10.1109/​ICMLA58977.2023.00024, December 2023, pp. 112-119.
    BibTeX TR2023-151 PDF
    • @inproceedings{Kong2023dec,
    • author = {Kong, Chuizheng and Yerazunis, William S. and Nikovski, Daniel},
    • title = {Stochastic Learning Manipulation of Object Pose With Under-Actuated Impulse Generator Arrays},
    • booktitle = {International Conference on Machine Learning and Applications (ICMLA)},
    • year = 2023,
    • pages = {112--119},
    • month = dec,
    • doi = {10.1109/ICMLA58977.2023.00024},
    • url = {https://www.merl.com/publications/TR2023-151}
    • }
  •  Sun, L., Jha, D.K., Hori, C., Jain, S., Corcodel, R., Zhu, X., Tomizuka, M., Romeres, D., "Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks", Advances in Neural Information Processing Systems (NeurIPS) Workshop on Instruction Tuning and Instruction Following, December 2023.
    BibTeX TR2023-148 PDF
    • @inproceedings{Sun2023dec,
    • author = {Sun, Lingfeng and Jha, Devesh K. and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego},
    • title = {Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on Instruction Tuning and Instruction Following},
    • year = 2023,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2023-148}
    • }
  •  Giacomuzzo, G., Dalla Libera, A., Romeres, D., Carli, R., "Physics Informed Gaussian Process Regression Methods for Robot Inverse Dynamics Identification", Conferenza Italiana di Robotica e Macchine Intelligenti, October 2023.
    BibTeX TR2023-132 PDF
    • @inproceedings{Giacomuzzo2023oct2,
    • author = {Giacomuzzo, Giulio and Dalla Libera, Alberto and Romeres, Diego and Carli, Ruggero},
    • title = {Physics Informed Gaussian Process Regression Methods for Robot Inverse Dynamics Identification},
    • booktitle = {Conferenza Italiana di Robotica e Macchine Intelligenti},
    • year = 2023,
    • month = oct,
    • url = {https://www.merl.com/publications/TR2023-132}
    • }
  •  Huang, B., Yu, J., Jain, S., "EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation", 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS55552.2023.10341988, October 2023, pp. 2963-2970.
    BibTeX TR2023-118 PDF Video
    • @inproceedings{Huang2023oct,
    • author = {Huang, Baichuan and Yu, Jingjin and Jain, Siddarth},
    • title = {EARL: Eye-on-Hand Reinforcement Learner for Dynamic Grasping with Active Pose Estimation},
    • booktitle = {2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2023,
    • pages = {2963--2970},
    • month = oct,
    • publisher = {IEEE},
    • doi = {10.1109/IROS55552.2023.10341988},
    • issn = {2153-0866},
    • isbn = {978-1-6654-9190-7},
    • url = {https://www.merl.com/publications/TR2023-118}
    • }
  •  Shaw, S., Jha, D.K., Raghunathan, A., Corcodel, R., Romeres, D., Konidaris, G., Nikovski, D., "Constrained Dynamic Movement Primitives for Collision Avoidance in Novel Environments", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS55552.2023.10341839, September 2023, pp. 3672-3679.
    BibTeX TR2023-121 PDF Video
    • @inproceedings{Shaw2023sep,
    • 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 Collision Avoidance in Novel Environments},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2023,
    • pages = {3672--3679},
    • month = sep,
    • publisher = {IEEE},
    • doi = {10.1109/IROS55552.2023.10341839},
    • issn = {2153-0866},
    • isbn = {978-1-6654-9190-7},
    • url = {https://www.merl.com/publications/TR2023-121}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Contact-Aware Covariance Control of Stochastic Contact-Rich Systems", IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation, September 2023.
    BibTeX TR2023-120 PDF
    • @inproceedings{Shirai2023sep,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {Contact-Aware Covariance Control of Stochastic Contact-Rich Systems},
    • booktitle = {IROS 2023 Workshop on Leveraging Models for Contact-Rich Manipulation},
    • year = 2023,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2023-120}
    • }
  •  Ota, K., Jha, D.K., Jatavallabhula, K., Kanezaki, A., Tenenbaum, J.B., "Estimation of Extrinsic Contact Patch for Stable Placement", IEEE IROS 2023 Workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI, September 2023.
    BibTeX TR2024-018 PDF
    • @inproceedings{Ota2023sep2,
    • author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna and Kanezaki, Asako and Tenenbaum, Joshua B.},
    • title = {Estimation of Extrinsic Contact Patch for Stable Placement},
    • booktitle = {IEEE IROS 2023 Workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI},
    • year = 2023,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2024-018}
    • }
  •  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}
    • }
  •  Iqbal, H., Di Cairano, S., Berntorp, K., "Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering", Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA54093.2023.10253020, August 2023.
    BibTeX TR2023-101 PDF
    • @inproceedings{Iqbal2023aug,
    • author = {Iqbal, Hassan and Di Cairano, Stefano and Berntorp, Karl},
    • title = {Motion Planning of Articulated Vehicles with Active Trailer Steering by Particle Filtering},
    • booktitle = {Conference on Control Technology and Applications (CCTA)},
    • year = 2023,
    • month = aug,
    • doi = {10.1109/CCTA54093.2023.10253020},
    • url = {https://www.merl.com/publications/TR2023-101}
    • }
  •  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}
    • }
  •  Thaker, P., Di Cairano, S., Vinod, A.P., "Bandit-based multi-agent search under noisy observations", World Congress of the International Federation of Automatic Control (IFAC), Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M., Eds., DOI: 10.1016/​j.ifacol.2023.10.1377, July 2023, pp. 2780-2785.
    BibTeX TR2023-085 PDF
    • @inproceedings{Thaker2023jul,
    • author = {Thaker, Parth and Di Cairano, Stefano and Vinod, Abraham P.},
    • title = {Bandit-based multi-agent search under noisy observations},
    • booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
    • year = 2023,
    • editor = {Ishii, H. and Ebihara, Y. and Imura, J. and Yamakita, M.},
    • pages = {2780--2785},
    • month = jul,
    • publisher = {Elseiver},
    • doi = {10.1016/j.ifacol.2023.10.1377},
    • url = {https://www.merl.com/publications/TR2023-085}
    • }
  •  Li, W., Wang, M., Li, J., Su, Y., Jha, D.K., Qian, X., Althoefer, K., Liu, H., "L3 F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing", IEEE Robotics and Automation Letters (RA-L), DOI: 10.1109/​LRA.2023.3292575, Vol. 8, No. 8, pp. 5148-5155, July 2023.
    BibTeX TR2023-081 PDF
    • @article{Li2023jul,
    • author = {Li, Wanlin and Wang, Meng and Li, Jiarui and Su, Yao and Jha, Devesh K. and Qian, Xingyuan and Althoefer, Kaspar and Liu, Hangxin},
    • title = {L3 F-TOUCH: A Wireless GelSight with Decoupled Tactile and Three-axis Force Sensing},
    • journal = {IEEE Robotics and Automation Letters (RA-L)},
    • year = 2023,
    • volume = 8,
    • number = 8,
    • pages = {5148--5155},
    • month = jul,
    • doi = {10.1109/LRA.2023.3292575},
    • url = {https://www.merl.com/publications/TR2023-081}
    • }
  •  Ota, K., Jain, S., Zhang, M., Jha, D.K., "Tactile Pose Feedback for Closed-loop Manipulation Tasks", RSS 23 Workshop on Learning Dexterous Manipulation, July 2023.
    BibTeX TR2023-082 PDF
    • @inproceedings{Ota2023jul,
    • author = {Ota, Kei and Jain, Siddarth and Zhang, Mengchao and Jha, Devesh K.},
    • title = {Tactile Pose Feedback for Closed-loop Manipulation Tasks},
    • booktitle = {RSS 23 Workshop on Learning Dexterous Manipulation},
    • year = 2023,
    • month = jul,
    • url = {https://www.merl.com/publications/TR2023-082}
    • }