- 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), October 2023.
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,
- month = oct,
- 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), September 2023.
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,
- month = sep,
- 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}
- }
- 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), July 2023.
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,
- month = jul,
- 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), 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,
- month = jul,
- 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}
- }
- Di Cairano, S., Skibik, T., Vinod, A.P., Weiss, A., Berntorp, K., "Decision Making for Automated Driving by Reachability of Parameterized Maneuvers", 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.2023.10.018, July 2023, pp. 7852-7857.
BibTeX TR2023-084 PDF- @inproceedings{DiCairano2023jul,
- author = {Di Cairano, Stefano and Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Berntorp, Karl},
- title = {Decision Making for Automated Driving by Reachability of Parameterized Maneuvers},
- 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 = {7852--7857},
- month = jul,
- publisher = {Elsevier},
- doi = {10.1016/j.ifacol.2023.10.018},
- url = {https://www.merl.com/publications/TR2023-084}
- }
- Nikovski, D., Yerazunis, W.S., Goldsmith, A., "Model-Based Learning Controller Design for a Furuta Pendulum", 9th International Conference on Control, Decision and Information Technologies (CoDIT), July 2023.
BibTeX TR2023-080 PDF- @inproceedings{Nikovski2023jul,
- author = {Nikovski, Daniel and Yerazunis, William S. and Goldsmith, Abraham},
- title = {Model-Based Learning Controller Design for a Furuta Pendulum},
- booktitle = {9th International Conference on Control, Decision and Information Technologies (CoDIT)},
- year = 2023,
- month = jul,
- url = {https://www.merl.com/publications/TR2023-080}
- }
- Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning", Robotics: Science and Systems (RSS), DOI: 10.15607/RSS.2023.XIX.044, July 2023.
BibTeX TR2023-078 PDF Video- @inproceedings{Zhang2023jul,
- author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
- title = {Simultaneous Trajectory Optimization and Contact Selection for Multi-Modal Manipulation Planning},
- booktitle = {Robotics: Science and Systems (RSS)},
- year = 2023,
- month = jul,
- doi = {10.15607/RSS.2023.XIX.044},
- url = {https://www.merl.com/publications/TR2023-078}
- }
- Jha, D.K., Romeres, D., Jain, S., Yerazunis, W.S., Nikovski, D., "Design of Adaptive Compliance Controllers for Safe Robotic Assembly", European Control Conference (ECC), DOI: 10.23919/ECC57647.2023.10178229, June 2023.
BibTeX TR2023-070 PDF- @inproceedings{Jha2023jun,
- author = {Jha, Devesh K. and Romeres, Diego and Jain, Siddarth and Yerazunis, William S. and Nikovski, Daniel},
- title = {Design of Adaptive Compliance Controllers for Safe Robotic Assembly},
- booktitle = {European Control Conference (ECC)},
- year = 2023,
- month = jun,
- doi = {10.23919/ECC57647.2023.10178229},
- url = {https://www.merl.com/publications/TR2023-070}
- }
- Ota, K., Jha, D.K., Tung, H.-Y., Tenenbaum, J.B., "Tactile-Filter: Interactive Tactile Perception for Part Mating", Robotics: Science and Systems (RSS), DOI: 10.15607/RSS.2023.XIX.079, June 2023.
BibTeX TR2023-077 PDF- @inproceedings{Ota2023jun,
- author = {Ota, Kei and Jha, Devesh K. and Tung, Hsiao-Yu and Tenenbaum, Joshua B.},
- title = {Tactile-Filter: Interactive Tactile Perception for Part Mating},
- booktitle = {Robotics: Science and Systems (RSS)},
- year = 2023,
- month = jun,
- doi = {10.15607/RSS.2023.XIX.079},
- url = {https://www.merl.com/publications/TR2023-077}
- }
- Berntorp, K., Menner, M., "Constrained Gaussian-Process State-Space Models for Online Magnetic-Field Estimation", International Conference on Information Fusion (FUSION), DOI: 10.23919/FUSION52260.2023.10224137, June 2023.
BibTeX TR2023-075 PDF- @inproceedings{Berntorp2023jun2,
- author = {Berntorp, Karl and Menner, Marcel},
- title = {Constrained Gaussian-Process State-Space Models for Online Magnetic-Field Estimation},
- booktitle = {International Conference on Information Fusion (FUSION)},
- year = 2023,
- month = jun,
- doi = {10.23919/FUSION52260.2023.10224137},
- url = {https://www.merl.com/publications/TR2023-075}
- }
- 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}
- }
- 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}
- }
- 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), May 2023.
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,
- month = may,
- url = {https://www.merl.com/publications/TR2023-053}
- }
- 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}
- }