- Bhaskar, A., Tokekar, P., Di Cairano, S., Schperberg, A., "MIRROR: Multisensory Implicit Rejection-sampled RObotic policy", ICML 2026 Workshop on Structured Probabilistic Inference & Generative Modeling, July 2026.
BibTeX TR2026-096 PDF- @inproceedings{Bhaskar2026jul,
- author = {Bhaskar, Amisha and Tokekar, Pratap and {Di Cairano}, Stefano and Schperberg, Alexander},
- title = {{MIRROR: Multisensory Implicit Rejection-sampled RObotic policy}},
- booktitle = {ICML 2026 Workshop on Structured Probabilistic Inference \& Generative Modeling},
- year = 2026,
- month = jul,
- url = {https://www.merl.com/publications/TR2026-096}
- }
- Folorunsho, S., Hayner, C., Di Cairano, S., Vinod, A.P., "Coordinated aerial inspection of infrastructure with heterogeneous drones", World Congress of the International Federation of Automatic Control (IFAC), July 2026.
BibTeX TR2026-101 PDF- @inproceedings{Folorunsho2026jul,
- author = {Folorunsho, Samuel and Hayner, Christopher and {Di Cairano}, Stefano and Vinod, Abraham P.},
- title = {{Coordinated aerial inspection of infrastructure with heterogeneous drones}},
- booktitle = {World Congress of the International Federation of Automatic Control (IFAC)},
- year = 2026,
- month = jul,
- url = {https://www.merl.com/publications/TR2026-101}
- }
- Lin, J.-T., Lu, Z., Wang, Y., "Closed-Loop Co-Design of Motors, Motions, and Feedback Control for Robotic Manipulators", Journal of Artificial Intelligence for Automation, DOI: 10.53941/jaia.2026.100008, Vol. 1, No. 2, June 2026.
BibTeX TR2026-088 PDF- @article{Lin2026jun2,
- author = {Lin, Jue-Te and Lu, Zehui and Wang, Yebin},
- title = {{Closed-Loop Co-Design of Motors, Motions, and Feedback Control for Robotic Manipulators}},
- journal = {Journal of Artificial Intelligence for Automation},
- year = 2026,
- volume = 1,
- number = 2,
- month = jun,
- doi = {10.53941/jaia.2026.100008},
- url = {https://www.merl.com/publications/TR2026-088}
- }
- Deng, Y., Chatterjee, S., Taylor, N., Nikovski, D.N., "Pose-Based Visual Servocontrol with Keypoint Tracking", The 15th Asian Control Conference (ASCC), June 2026.
BibTeX TR2026-082 PDF- @inproceedings{Deng2026jun,
- author = {Deng, Yunfu and Chatterjee, Sreejani and Taylor, Nichols and Nikovski, Daniel N.},
- title = {{Pose-Based Visual Servocontrol with Keypoint Tracking}},
- booktitle = {The 15th Asian Control Conference (ASCC)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-082}
- }
- Zhou, Q., Gan, C., Cherian, A., "LLawCo: Learning Laws of Cooperation for Modeling Embodied Multi-Agent Behavior", International Conference on Machine Learning (ICML), June 2026.
BibTeX TR2026-081 PDF Video- @inproceedings{Zhou2026jun,
- author = {Zhou, Qinhong and Gan, Chuang and Cherian, Anoop},
- title = {{LLawCo: Learning Laws of Cooperation for Modeling Embodied Multi-Agent Behavior}},
- booktitle = {International Conference on Machine Learning (ICML)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-081}
- }
- Lin, X., Nayak, S., Di Cairano, S., Vinod, A.P., "Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots", IEEE Transactions on Control Systems Technology, June 2026.
BibTeX TR2026-078 PDF Video- @article{Lin2026jun,
- author = {Lin, Xiaoshan and Nayak, Siddharth and {Di Cairano}, Stefano and Vinod, Abraham P.},
- title = {{Data-driven Spatial Classification using Multi-Arm Bandits for Monitoring with Energy-Constrained Mobile Robots}},
- journal = {IEEE Transactions on Control Systems Technology},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-078}
- }
- Jain, S., Choi, H.J., "SplatCtrl: Perception–Action Coupling via Gaussian Scene Representations and Reactive Robot Control", 2026 IEEE International Conference on Robotics & Automation (ICRA), June 2026.
BibTeX TR2026-069 PDF- @inproceedings{Jain2026jun,
- author = {{Jain, Siddarth and Choi, Ho Jin}},
- title = {{SplatCtrl: Perception–Action Coupling via Gaussian Scene Representations and Reactive Robot Control}},
- booktitle = {2026 IEEE International Conference on Robotics \& Automation (ICRA)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-069}
- }
- Oller, M., Qian, Q., Corcodel, R., Jain, S., "M-VTOP: Modular Visuo-Tactile Object Pose Estimation for High-Precision Robotic Manipulation", 2026 IEEE International Conference on Robotics & Automation (ICRA), June 2026.
BibTeX TR2026-070 PDF- @inproceedings{Oller2026jun,
- author = {Oller, Miquel and Qian, Qiyang and Corcodel, Radu and Jain, Siddarth},
- title = {{M-VTOP: Modular Visuo-Tactile Object Pose Estimation for High-Precision Robotic Manipulation}},
- booktitle = {2026 IEEE International Conference on Robotics \& Automation (ICRA)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-070}
- }
- Yao, S., Xing, C., Jha, D.K., Romeres, D., "Dexterous Non-prehensile Manipulation using Environment Guided Diffusion Models", ICRA Workshop on Dexterity with Multifingered Hands: Hardware, Sensing, and Skills, June 2026.
BibTeX TR2026-073 PDF- @inproceedings{Yao2026jun,
- author = {{Yao, Shaoxiong and Xing, Chengy and Jha, Devesh K. and Romeres, Diego}},
- title = {{Dexterous Non-prehensile Manipulation using Environment Guided Diffusion Models}},
- booktitle = {ICRA Workshop on Dexterity with Multifingered Hands: Hardware, Sensing, and Skills},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-073}
- }
- Buckner, S., Elango, P., "GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion", IEEE International Conference on Robotics and Automation (ICRA), June 2026.
BibTeX TR2026-068 PDF- @inproceedings{Buckner2026jun,
- author = {Buckner, Samuel and Elango, Purnanand},
- title = {{GPU-Accelerated Continuous-Time Successive Convexification for Contact-Implicit Legged Locomotion}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-068}
- }
- Schperberg, A., Wang, Y., Di Cairano, S., "Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control", IEEE International Conference on Robotics and Automation (ICRA), June 2026.
BibTeX TR2026-072 PDF Video- @inproceedings{Schperberg2026jun,
- author = {Schperberg, Alexander and Wang, Yeping and {Di Cairano}, Stefano},
- title = {{Safe Whole-Body Loco-Manipulation via Combined Model and Learning-based Control}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-072}
- }
- Velentzas, I.G., Tomita, K., "LIDIA: Localizing In the Dark with Illumination-Awareness toward Perception-Aware Planning", IEEE International Conference on Robotics and Automation (ICRA), June 2026.
BibTeX TR2026-071 PDF- @inproceedings{Velentzas2026jun,
- author = {{Velentzas, I.G. and Tomita, K.}},
- title = {{LIDIA: Localizing In the Dark with Illumination-Awareness toward Perception-Aware Planning}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = jun,
- url = {https://www.merl.com/publications/TR2026-071}
- }
- Wang, Z., Jha, D.K., Qureshi, A.H., Romeres, D., "PPGuide: Steering Diffusion Policies with Performance Predictive Guidance", IEEE International Conference on Robotics and Automation (ICRA), May 2026.
BibTeX TR2026-066 PDF- @inproceedings{Wang2026may2,
- author = {{Wang, Zixing and Jha, Devesh K. and Qureshi , Ahmed H. and Romeres, Diego}},
- title = {{PPGuide: Steering Diffusion Policies with Performance Predictive Guidance}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-066}
- }
- Xu, Z., Shirai, Y., "UNIC: Learning Unified Multimodal Extrinsic Contact Estimation", IEEE International Conference on Robotics and Automation (ICRA), May 2026.
BibTeX TR2026-065 PDF Video Data Software- @inproceedings{Xu2026may,
- author = {{Xu, Zhengtong and Shirai, Yuki}},
- title = {{UNIC: Learning Unified Multimodal Extrinsic Contact Estimation}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-065}
- }
- Leung, J., Di Cairano, S., "Invariant-set motion-planner for unicycle dynamics under closed-loop feedback linearization", American Control Conference (ACC), May 2026.
BibTeX TR2026-064 PDF- @inproceedings{Leung2026may2,
- author = {Leung, Jordan and {Di Cairano}, Stefano},
- title = {{Invariant-set motion-planner for unicycle dynamics under closed-loop feedback linearization}},
- booktitle = {American Control Conference (ACC)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-064}
- }
- Queeney, J., Cai, X., Schperberg, A., Corcodel, R., Benosman, M., How, J., "GRAM: Generalization in Deep RL with a Robust Adaptation Module", IEEE Robotics and Automation Letters (RA-L), May 2026.
BibTeX TR2026-057 PDF- @article{Queeney2026may,
- author = {Queeney, James and Cai, Xiaoyi and Schperberg, Alexander and Corcodel, Radu and Benosman, Mouhacine and How, Jonathan},
- title = {{GRAM: Generalization in Deep RL with a Robust Adaptation Module}},
- journal = {IEEE Robotics and Automation Letters (RA-L)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-057}
- }
- Subedi, N., Yang, H.-J., Jha, D.K., Sarkar, S., Raghunathan, A., "Find the Fruit: Zero-Shot Sim2Real RL for Occlusion-Aware Plant Manipulation", IEEE International Conference on Robotics and Automation (ICRA), May 2026.
BibTeX TR2026-097 PDF- @inproceedings{Subedi2026may,
- author = {Subedi, Nitesh and Yang, Hsin-Jung and Jha, Devesh K. and Sarkar, Soumik and Raghunathan, Arvind},
- title = {{Find the Fruit: Zero-Shot Sim2Real RL for Occlusion-Aware Plant Manipulation}},
- booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
- year = 2026,
- month = may,
- url = {https://www.merl.com/publications/TR2026-097}
- }
- Ju, R., Zhang, D., Wang, Y., Zhou, M., Cao, Z., "3D-Dynamic Safety Envelope-Based Control Strategy for Hyper-Redundant Manipulator Moving in Confined Space", IEEE Transactions on Industrial Electronics, DOI: 10.1109/TIE.2026.3682383, May 2026.
BibTeX TR2026-105 PDF- @article{Ju2026may,
- author = {Ju, Renjie and Zhang, Dong and Wang, Yebin and Zhou, Mengchu and Cao, Zhengcai},
- title = {{3D-Dynamic Safety Envelope-Based Control Strategy for Hyper-Redundant Manipulator Moving in Confined Space}},
- journal = {IEEE Transactions on Industrial Electronics},
- year = 2026,
- month = may,
- doi = {10.1109/TIE.2026.3682383},
- url = {https://www.merl.com/publications/TR2026-105}
- }
- Zhang, Y., Corcodel, R., Hori, C., Cherian, A., Zhao, D., "SpinBench: 3D Rotation as a Lens on Spatial Reasoning in VLMs", International Conference on Learning Representations (ICLR) 2026, April 2026.
BibTeX TR2026-045 PDF- @inproceedings{Zhang2026apr2,
- author = {Zhang, Yuyou and Corcodel, Radu and Hori, Chiori and Cherian, Anoop and Zhao, Ding},
- title = {{SpinBench: 3D Rotation as a Lens on Spatial Reasoning in VLMs}},
- booktitle = {International Conference on Learning Representations (ICLR) 2026},
- year = 2026,
- month = apr,
- url = {https://www.merl.com/publications/TR2026-045}
- }
- Wiebe, F., Turcato, N., Dalla Libera, A., Seong Bjorn Choe, J., Choi, B., Faust, T.L., Maraqten, H., Aghadavoodi, E., Cali, M., Sinigaglia, A., Giacomuzzo, G., Carli, R., Romeres, D., Kim, J.-K., Susto, G.A., Vyas, S., Mronga, D., Belousov, B., Peters, J., Kirchner, F., Kumar, S., "Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition", IEEE Robotics & Automation Magazine, January 2026.
BibTeX TR2026-013 PDF- @article{Wiebe2026jan,
- author = {{{Wiebe, Felix and Turcato, Niccolò and Dalla Libera, Alberto and Seong Bjorn Choe, Jean and Choi, Bumkyu and Faust, Tim Lukas and Maraqten, Habib and Aghadavoodi, Erfan and Cali, Marco and Sinigaglia, Alberto and Giacomuzzo, Giulio and Carli, Ruggero and Romeres, Diego and Kim, Jong-kook and Susto, Gian Antonio and Vyas, Shubham and Mronga, Dennis and Belousov, Boris and Peters, Jan and Kirchner, Frank and Kumar, Shivesh}}},
- title = {{{Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd “AI Olympics with RealAIGym” Competition}}},
- journal = {IEEE Robotics \& Automation Magazine},
- year = 2026,
- month = jan,
- url = {https://www.merl.com/publications/TR2026-013}
- }
- Shirai, Y., Ota, K., Jha, D.K., Romeres, D., "Learning Non-prehensile Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations", IEEE Robotics and Automation Letters, January 2026.
BibTeX TR2026-011 PDF Video- @article{Shirai2026jan,
- author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
- title = {{Learning Non-prehensile Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations}},
- journal = {IEEE Robotics and Automation Letters},
- year = 2026,
- month = jan,
- url = {https://www.merl.com/publications/TR2026-011}
- }
- De Lazzari, D., Terreran, M., Giacomuzzo, G., Jain, S., Falco, P., Carli, R., Ghidoni, S., Romeres, D., "Real-time Human Progress Estimation with Online Dynamic Time Warping for Collaborative Robotics", Frontiers, December 2025.
BibTeX TR2025-173 PDF- @article{DeLazzari2025dec,
- author = {De Lazzari, Davide and Terreran, Matteo and Giacomuzzo, Giulio and Jain, Siddarth and Falco, Pietro and Carli, Ruggero and Ghidoni, Stefano and Romeres, Diego},
- title = {{Real-time Human Progress Estimation with Online Dynamic Time Warping for Collaborative Robotics}},
- journal = {Frontiers},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-173}
- }
- Van der Merwe, M., Ota, K., Berenson, D., Fazeli, N., Jha, D.K., "Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing", IEEE RA-L, DOI: 10.1109/LRA.2026.3653324, Vol. 11, No. 3, pp. 2394-2401, December 2025.
BibTeX TR2026-002 PDF- @article{VanderMerwe2025dec2,
- author = {{Van der Merwe, Mark and Ota, Kei and Berenson, Dmitry and Fazeli, Nima and Jha, Devesh K.}},
- title = {{Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing}},
- journal = {IEEE RA-L},
- year = 2025,
- volume = 11,
- number = 3,
- pages = {2394--2401},
- month = dec,
- doi = {10.1109/LRA.2026.3653324},
- url = {https://www.merl.com/publications/TR2026-002}
- }
- Uzun, S., Acikmese, B., Di Cairano, S., "Motion Planning for Information Acquisition via Continuous-time Successive Convexification", IEEE Conference on Decision and Control (CDC), December 2025.
BibTeX TR2025-170 PDF Video- @inproceedings{Uzun2025dec,
- author = {Uzun, Samet and Acikmese, Behcet and {Di Cairano}, Stefano},
- title = {{Motion Planning for Information Acquisition via Continuous-time Successive Convexification}},
- booktitle = {IEEE Control Systems Letters},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-170}
- }
- Zhang, Y., Corcodel, R., Hori, C., Cherian, A., Zhao, D., "AxisBench: What Can Go Wrong in VLMs’ Spatial Reasoning?", Advances in Neural Information Processing Systems (NeurIPS) workshop, December 2025.
BibTeX TR2025-168 PDF- @inproceedings{Zhang2025dec2,
- author = {{{Zhang, Yuyou and Corcodel, Radu and Hori, Chiori and Cherian, Anoop and Zhao, Ding}}},
- title = {{{AxisBench: What Can Go Wrong in VLMs’ Spatial Reasoning?}}},
- booktitle = {Advances in Neural Information Processing Systems (NeurIPS) workshop},
- year = 2025,
- month = dec,
- url = {https://www.merl.com/publications/TR2025-168}
- }