- Choi, H.J., Jain, S., "A Unified Framework for Gaussian-Based Scene Representation and Reactive Robot Control", Robotics: Science and Systems (RSS) 2025 Workshop on Gaussian Representations for Robot Autonomy, June 2025.
BibTeX TR2025-096 PDF- @inproceedings{Choi2025jun,
- author = {Choi, Ho Jin and Jain, Siddarth},
- title = {{A Unified Framework for Gaussian-Based Scene Representation and Reactive Robot Control}},
- booktitle = {Robotics: Science and Systems (RSS) 2025 Workshop on Gaussian Representations for Robot Autonomy},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-096}
- }
- Dai, M., Lu, Z., Li, N., Wang, Y., "Enhanced Agility and Safety in Mobile Manipulators through Centroidal Momentum-Based Motion Planning", European Control Conference (ECC), June 2025.
BibTeX TR2025-092 PDF- @inproceedings{Dai2025jun,
- author = {Dai, Min and Lu, Zehui and Li, Na and Wang, Yebin},
- title = {{Enhanced Agility and Safety in Mobile Manipulators through Centroidal Momentum-Based Motion Planning}},
- booktitle = {European Control Conference (ECC)},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-092}
- }
- Ma, H., Zhang, T., Li, N., Di Cairano, S., Wang, Y., "A Hierarchical Approach for Tractor-trailer Motion Planning Using Graph Search and Reinforcement Learning", European Control Conference (ECC), June 2025.
BibTeX TR2025-093 PDF- @inproceedings{Ma2025jun,
- author = {Ma, Haitong and Zhang, Tianpeng and Li, Na and {Di Cairano}, Stefano and Wang, Yebin},
- title = {{A Hierarchical Approach for Tractor-trailer Motion Planning Using Graph Search and Reinforcement Learning}},
- booktitle = {European Control Conference (ECC)},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-093}
- }
- Wang, J.-W., Nikovski, D.N., "State Representation Learning for Visual Servo Control", European Control Conference (ECC), June 2025.
BibTeX TR2025-094 PDF- @inproceedings{Wang2025jun,
- author = {Wang, Jen-Wei and Nikovski, Daniel N.},
- title = {{State Representation Learning for Visual Servo Control}},
- booktitle = {European Control Conference (ECC)},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-094}
- }
- Giacomuzzo, G., Romeres, D., Carli, R., Dalla Libera, A., "Learning Positive Definite Inertia Matrices in Black-Box Inverse Dynamics Models via Gaussian Processes: a Constraint Learning Approach", European Control Conference (ECC), June 2025.
BibTeX TR2025-090 PDF- @inproceedings{Giacomuzzo2025jun,
- author = {Giacomuzzo, Giulio and Romeres, Diego and Carli, Ruggero and Dalla Libera, Alberto},
- title = {{Learning Positive Definite Inertia Matrices in Black-Box Inverse Dynamics Models via Gaussian Processes: a Constraint Learning Approach}},
- booktitle = {European Control Conference (ECC)},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-090}
- }
- Vats, S., Jha, D.K., Likhachev, M., Kroemer, O., Romeres, D., "RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation", R3: Reasoning for Robust Robot Manipulation in the Open World Workshop at R:SS 2025, June 2025.
BibTeX TR2025-091 PDF- @inproceedings{Vats2025jun,
- author = {Vats, Shivam and Jha, Devesh K. and Likhachev, Maxim and Kroemer, Oliver and Romeres, Diego},
- title = {{RecoveryChaining: Learning Local Recovery Policies for Robust Manipulation}},
- booktitle = {R3: Reasoning for Robust Robot Manipulation in the Open World Workshop at R:SS 2025},
- year = 2025,
- month = jun,
- url = {https://www.merl.com/publications/TR2025-091}
- }
- De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Romeres, D., "Human Monitoring with Correlation-based Dynamic Time Warping for Collaborative Assembly", IEEE International Conference on Robotics and Automation (ICRA) - Workshop on The Future of Intelligent Manufacturing: From innovation to implementation, May 2025.
BibTeX TR2025-067 PDF Video- @inproceedings{DeLazzari2025may2,
- author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Romeres, Diego},
- title = {{Human Monitoring with Correlation-based Dynamic Time Warping for 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/TR2025-067}
- }
- 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}
- }
- 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}
- }
- 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}
- }
- 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}
- }
- 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}
- }
- 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}
- }
- Turcato, N., Cali, M., Dalla Libera, A., Giacomuzzo, G., Carli, R., Romeres, D., "Learning global control of underactuated double pendulum with Model-Based Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA) - 3rd AI Olympics with RealAIGym Competition, April 2025.
BibTeX TR2025-046 PDF- @inproceedings{Turcato2025apr,
- author = {Turcato, Niccolò and Cali, Marco and Dalla Libera, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego},
- title = {{Learning global control of underactuated double pendulum with Model-Based Reinforcement Learning}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA) - 3rd AI Olympics with RealAIGym Competition},
- year = 2025,
- month = apr,
- url = {https://www.merl.com/publications/TR2025-046}
- }
- Hori, C., Kambara, M., Sugiura, K., Ota, K., Khurana, S., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Interactive Robot Action Replanning using Multimodal LLM Trained from Human Demonstration Videos", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/ICASSP49660.2025.10887717, April 2025.
BibTeX TR2025-034 PDF- @inproceedings{Hori2025mar,
- author = {Hori, Chiori and Kambara, Motonari and Sugiura, Komei and Ota, Kei and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and {Le Roux}, Jonathan},
- title = {{Interactive Robot Action Replanning using Multimodal {LLM} Trained from Human Demonstration Videos}},
- booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
- year = 2025,
- month = mar,
- doi = {10.1109/ICASSP49660.2025.10887717},
- url = {https://www.merl.com/publications/TR2025-034}
- }
- Wang, J.-W., Nikovski, D.N., "Learning Visual Servoing for Nonholonomic Mobile Robots with Uncalibrated Cameras", The 40th ACM/SIGAPP Symposium On Applied Computing, March 2025.
BibTeX TR2025-042 PDF- @inproceedings{Wang2025mar2,
- author = {Wang, Jen-Wei and Nikovski, Daniel N.},
- title = {{Learning Visual Servoing for Nonholonomic Mobile Robots with Uncalibrated Cameras}},
- booktitle = {The 40th ACM/SIGAPP Symposium On Applied Computing},
- year = 2025,
- month = mar,
- url = {https://www.merl.com/publications/TR2025-042}
- }
- Queeney, J., Paschalidis, I.C., Cassandras, C.G., "Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse", IEEE Transactions on Automatic Control, DOI: 10.1109/TAC.2024.3454011, Vol. 70, No. 2, pp. 1236-1243, February 2025.
BibTeX TR2025-015 PDF- @article{Queeney2025feb,
- author = {Queeney, James and Paschalidis, Ioannis Ch. and Cassandras, Christos G.},
- title = {{Generalized Policy Improvement Algorithms with Theoretically Supported Sample Reuse}},
- journal = {IEEE Transactions on Automatic Control},
- year = 2025,
- volume = 70,
- number = 2,
- pages = {1236--1243},
- month = feb,
- doi = {10.1109/TAC.2024.3454011},
- url = {https://www.merl.com/publications/TR2025-015}
- }
- Greiff, M., Sinhmar, H., Weiss, A., Berntorp, K., Di Cairano, S., "Invariant Set Planning for Quadrotors: Design, Analysis, Experiments", IEEE Transactions on Control Systems Technology, DOI: 10.1109/TCST.2024.3492813, Vol. 33, No. 2, pp. 449-462, January 2025.
BibTeX TR2025-010 PDF- @article{Greiff2025jan,
- author = {Greiff, Marcus and Sinhmar, Himani and Weiss, Avishai and Berntorp, Karl and {Di Cairano}, Stefano},
- title = {{Invariant Set Planning for Quadrotors: Design, Analysis, Experiments}},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2025,
- volume = 33,
- number = 2,
- pages = {449--462},
- month = jan,
- doi = {10.1109/TCST.2024.3492813},
- issn = {1063-6536},
- url = {https://www.merl.com/publications/TR2025-010}
- }
- Elango, P., Vinod, A.P., Di Cairano, S., Weiss, A., "Continuous-Time Successive Convexification for Passively-Safe Six-Degree-of-Freedom Powered-Descent Guidance", AIAA SciTech, DOI: 10.2514/6.2025-1894, January 2025, pp. 1-13.
BibTeX TR2025-008 PDF- @inproceedings{Elango2025jan,
- author = {Elango, Purnanand and Vinod, Abraham P. and {Di Cairano}, Stefano and Weiss, Avishai},
- title = {{Continuous-Time Successive Convexification for Passively-Safe Six-Degree-of-Freedom Powered-Descent Guidance}},
- booktitle = {AIAA SCITECH 2025 Forum},
- year = 2025,
- pages = {1--13},
- month = jan,
- publisher = {AIAA},
- doi = {10.2514/6.2025-1894},
- url = {https://www.merl.com/publications/TR2025-008}
- }
- Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization for Contact-rich Systems using Mixed Integer Programming", Nonlinear Analysis: Hybrid Systems, DOI: 10.1016/j.nahs.2024.101466, Vol. 52, 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,
- volume = 52,
- month = dec,
- doi = {10.1016/j.nahs.2024.101466},
- issn = {1751-570X},
- url = {https://www.merl.com/publications/TR2024-008}
- }
- Zhong, J., Nikovski, D.N., Yerazunis, W.S., Ando, T., "Learning Time-Optimal Control of Gantry Cranes", International Conference on Machine Learning and Applications (ICMLA), DOI: 10.1109/ICMLA61862.2024.00139, December 2024, pp. 945-950.
BibTeX TR2024-181 PDF- @inproceedings{Zhong2024dec,
- author = {Zhong, Junmin and Nikovski, Daniel N. and Yerazunis, William S. and Ando, Taishi},
- title = {{Learning Time-Optimal Control of Gantry Cranes}},
- booktitle = {International Conference on Machine Learning and Applications (ICMLA)},
- year = 2024,
- pages = {945--950},
- month = dec,
- doi = {10.1109/ICMLA61862.2024.00139},
- url = {https://www.merl.com/publications/TR2024-181}
- }
- Yin, J., Tsiotras, P., Berntorp, K., "Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding", IEEE Conference on Decision and Control (CDC), December 2024.
BibTeX TR2024-179 PDF- @inproceedings{Yin2024dec,
- author = {Yin, Ji and Tsiotras, Panagiotis and Berntorp, Karl},
- title = {{Chance-Constrained Information-Theoretic Stochastic Model Predictive Control with Safety Shielding}},
- booktitle = {IEEE Conference on Decision and Control (CDC)},
- year = 2024,
- month = dec,
- url = {https://www.merl.com/publications/TR2024-179}
- }
- Nikovski, D.N., Zhong, J., Yerazunis, W.S., "Memory-Based Learning of Global Control Policies from Local Controllers", 21st International Conference on Informatics in Control, Automation and Robotics (ICINCO'24), November 2024.
BibTeX TR2024-158 PDF- @inproceedings{Nikovski2024nov,
- author = {Nikovski, Daniel N. and Zhong, Junmin and Yerazunis, William S.},
- title = {{Memory-Based Learning of Global Control Policies from Local Controllers}},
- booktitle = {21st International Conference on Informatics in Control, Automation and Robotics (ICINCO'24)},
- year = 2024,
- month = nov,
- url = {https://www.merl.com/publications/TR2024-158}
- }
- Suresh, P., Romeres, D., Dosh, P., Jain, S., "Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective", IEEE International Conference on Cognitive Machine Intelligence (CogML 2024), DOI: 10.1109/CogMI62246.2024.00023, October 2024, pp. 103-110.
BibTeX TR2024-150 PDF- @inproceedings{Suresh2024nov,
- author = {Suresh, Prasanth and Romeres, Diego and Dosh, Prashant and Jain, Siddarth},
- title = {{Open Human-Robot Collaboration Systems (OHRCS): A Research Perspective}},
- booktitle = {2024 IEEE 6th International Conference on Cognitive Machine Intelligence (CogMI)},
- year = 2024,
- pages = {103--110},
- month = oct,
- publisher = {IEEE Computer Society},
- doi = {10.1109/CogMI62246.2024.00023},
- url = {https://www.merl.com/publications/TR2024-150}
- }