Publications

194 / 3,700 publications found.


  •  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), DOI: 10.23919/​ACC55779.2023.10156322, May 2023, pp. 710-717.
    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,
    • pages = {710--717},
    • month = may,
    • doi = {10.23919/ACC55779.2023.10156322},
    • 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}
    • }
  •  Skibik, T., Vinod, A.P., Weiss, A., Di Cairano, S., "MPC with Integrated Evasive Maneuvers for Failure-safe Automated Driving", American Control Conference (ACC), May 2023, pp. 1122-1128.
    BibTeX TR2023-055 PDF
    • @inproceedings{Skibik2023may,
    • author = {Skibik, Terrence and Vinod, Abraham P. and Weiss, Avishai and Di Cairano, Stefano},
    • title = {MPC with Integrated Evasive Maneuvers for Failure-safe Automated Driving},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • pages = {1122--1128},
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-055}
    • }
  •  You, S., Greiff, M., Quirynen, R., Ran, S., Wang, Y., Berntorp, K., Dai, R., Di Cairano, S., "Integral Action NMPC for Tight Maneuvers of Articulated Vehicles", American Control Conference (ACC), DOI: 10.23919/​ACC55779.2023.10156543, May 2023.
    BibTeX TR2023-058 PDF
    • @inproceedings{You2023may,
    • author = {You, Sixiong and Greiff, Marcus and Quirynen, Rien and Ran, Shuangxuan and Wang, Yebin and Berntorp, Karl and Dai, Ran and Di Cairano, Stefano},
    • title = {Integral Action NMPC for Tight Maneuvers of Articulated Vehicles},
    • booktitle = {American Control Conference (ACC)},
    • year = 2023,
    • month = may,
    • doi = {10.23919/ACC55779.2023.10156543},
    • issn = {2378-5861},
    • url = {https://www.merl.com/publications/TR2023-058}
    • }
  •  Jain, S., Corcodel, R., Jha, D.K., Romeres, D., "Vision Guided Food Assembly by Robot Teaching from Target Composition", ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork, May 2023.
    BibTeX TR2023-067 PDF
    • @inproceedings{Jain2023may,
    • author = {Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego},
    • title = {Vision Guided Food Assembly by Robot Teaching from Target Composition},
    • booktitle = {ICRA 2023 Workshop on Task-Informed Grasping IV (TIG-IV): From Farm to Fork},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-067}
    • }
  •  Curtis, A., Kaelbling, L., Jain, S., "Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160306, May 2023, pp. 3721-3728.
    BibTeX TR2023-046 PDF
    • @inproceedings{Curtis2023may,
    • author = {Curtis, Aidan and Kaelbling, Leslie and Jain, Siddarth},
    • title = {Task-Directed Exploration in Continuous POMDPs for Robotic Manipulation of Articulated Objects},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {3721--3728},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160306},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-046}
    • }
  •  Kim, S., Jha, D.K., Romeres, D., Rodriguez, A., "Simultaneous Tactile Estimation and Control of Extrinsic Contact", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10161158, May 2023, pp. 12563-12569.
    BibTeX TR2023-025 PDF Video
    • @inproceedings{Kim2023may,
    • author = {Kim, Sangwoon and Jha, Devesh K. and Romeres, Diego and Rodriguez, Alberto},
    • title = {Simultaneous Tactile Estimation and Control of Extrinsic Contact},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {12563--12569},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10161158},
    • url = {https://www.merl.com/publications/TR2023-025}
    • }
  •  Ota, K., Tung, H.-Y., Smith, K., Cherian, A., Marks, T.K., Sullivan, A., Kanezaki, A., Tenenbaum, J.B., "H-SAUR: Hypothesize, Simulate, Act, Update, and Repeat for Understanding Object Articulations from Interactions", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160575, May 2023, pp. 7272-7278.
    BibTeX TR2023-009 PDF
    • @inproceedings{Ota2023may,
    • author = {Ota, Kei and Tung, Hsiao-Yu and Smith, Kevin and Cherian, Anoop and Marks, Tim K. and Sullivan, Alan and Kanezaki, Asako and Tenenbaum, Joshua B.},
    • title = {H-SAUR: Hypothesize, Simulate, Act, Update, and Repeat for Understanding Object Articulations from Interactions},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {7272--7278},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160575},
    • url = {https://www.merl.com/publications/TR2023-009}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., "Covariance Steering for Uncertain Contact-Rich Systems", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160249, May 2023, pp. 7923-7929.
    BibTeX TR2023-024 PDF
    • @inproceedings{Shirai2023may3,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind},
    • title = {Covariance Steering for Uncertain Contact-Rich Systems},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {7923--7929},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160249},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-024}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Tactile Tool Manipulation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160480, May 2023, pp. 12597-12603.
    BibTeX TR2023-023 PDF Video
    • @inproceedings{Shirai2023may2,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
    • title = {Tactile Tool Manipulation},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {12597--12603},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160480},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-023}
    • }
  •  Zhang, X., Jain, S., Baichuan, H., Tomizuka, M., Romeres, D., "Learning Generalizable Pivoting Skills", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10161271, May 2023.
    BibTeX TR2023-045 PDF
    • @inproceedings{Zhang2023may4,
    • author = {Zhang, Xiang and Jain, Siddarth and Baichuan, Huang and Tomizuka, Masayoshi and Romeres, Diego},
    • title = {Learning Generalizable Pivoting Skills},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10161271},
    • isbn = {979-8-3503-2365-8},
    • url = {https://www.merl.com/publications/TR2023-045}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Hong, D., "Closed-Loop Tactile Controller for Tool Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
    BibTeX TR2023-043 PDF Video
    • @inproceedings{Shirai2023may,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Hong, Dennis},
    • title = {Closed-Loop Tactile Controller for Tool Manipulation},
    • booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-043}
    • }
  •  Zhang, M., Jha, D.K., Raghunathan, A., Hauser, K., "STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation", ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world, May 2023.
    BibTeX TR2023-044 PDF
    • @inproceedings{Zhang2023may3,
    • author = {Zhang, Mengchao and Jha, Devesh K. and Raghunathan, Arvind and Hauser, Kris},
    • title = {STOCS: Simultaneous Trajectory Optimization and Contact Selection for Contact-Rich Manipulation},
    • booktitle = {ICRA 2023 Workshop on Embracing contacts. Making robots physically interact with our world},
    • year = 2023,
    • month = may,
    • url = {https://www.merl.com/publications/TR2023-044}
    • }
  •  Amadio, F., Dalla Libera, A., Antonello, R., Nikovski, D.N., Carli, R., Romeres, D., "Model-Based Policy Search Using Monte Carlo Gradient Estimation with Real Systems Application", IEEE Transaction on Robotics, DOI: 10.1109/​TRO.2022.3184837, Vol. 38, No. 6, pp. 3879-3898, December 2022.
    BibTeX TR2022-154 PDF Videos Software
    • @article{Romeres2022dec,
    • author = {Amadio, Fabio and Dalla Libera, Alberto and Antonello, Riccardo and Nikovski, Daniel N. and Carli, Ruggero and Romeres, Diego},
    • title = {Model-Based Policy Search Using Monte Carlo Gradient Estimation with Real Systems Application},
    • journal = {IEEE Transaction on Robotics},
    • year = 2022,
    • volume = 38,
    • number = 6,
    • pages = {3879--3898},
    • month = dec,
    • doi = {10.1109/TRO.2022.3184837},
    • issn = {1941-0468},
    • url = {https://www.merl.com/publications/TR2022-154}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "Homogeneous Infeasible Interior Point Method for Convex Quadratic Programs", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC51059.2022.9992979, December 2022, pp. 7571-7578.
    BibTeX TR2022-157 PDF
    • @inproceedings{Raghunathan2022dec,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {Homogeneous Infeasible Interior Point Method for Convex Quadratic Programs},
    • booktitle = {IEEE 61st Conference on Decision and Control (CDC), Cancun, Mexico},
    • year = 2022,
    • pages = {7571--7578},
    • month = dec,
    • doi = {10.1109/CDC51059.2022.9992979},
    • url = {https://www.merl.com/publications/TR2022-157}
    • }
  •  Schneider, T., Belousov, B., Chalvatzaki, G., Romeres, D., Jha, D.K., Peters, J., "Active Exploration for Robotic Manipulation", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS47612.2022.9982061, October 2022.
    BibTeX TR2022-139 PDF
    • @inproceedings{Schneider2022oct,
    • author = {Schneider, Tim and Belousov, Boris and Chalvatzaki, Georgia and Romeres, Diego and Jha, Devesh K. and Peters, Jan},
    • title = {Active Exploration for Robotic Manipulation},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2022,
    • month = oct,
    • publisher = {IEE},
    • doi = {10.1109/IROS47612.2022.9982061},
    • issn = {2153-0866},
    • isbn = {978-1-6654-7927-1},
    • url = {https://www.merl.com/publications/TR2022-139}
    • }
  •  Wang, Z., Ahmad, A., Quirynen, R., Wang, Y., Bhagat, A., Zeino, E., Zushi, Y., Di Cairano, S., "Motion Planning and Model Predictive Control for Automated Tractor-Trailer Hitching Maneuver", IEEE Conference on Control Technology and Applications (CCTA), DOI: 10.1109/​CCTA49430.2022.9966181, August 2022, pp. 676-682.
    BibTeX TR2022-109 PDF
    • @inproceedings{Wang2022aug,
    • author = {Wang, Zejiang and Ahmad, Ahmad and Quirynen, Rien and Wang, Yebin and Bhagat, Akshay and Zeino, Eyad and Zushi, Yuji and Di Cairano, Stefano},
    • title = {Motion Planning and Model Predictive Control for Automated Tractor-Trailer Hitching Maneuver},
    • booktitle = {IEEE Conference on Control Technology and Applications (CCTA)},
    • year = 2022,
    • pages = {676--682},
    • month = aug,
    • publisher = {IEEE},
    • doi = {10.1109/CCTA49430.2022.9966181},
    • url = {https://www.merl.com/publications/TR2022-109}
    • }
  •  Jha, D.K., Romeres, D., Yerazunis, W.S., Nikovski, D.N., "Imitation and Supervised Learning of Compliance for Robotic Assembly", European Control Conference (ECC), DOI: 10.23919/​ECC55457.2022.9838102, July 2022, pp. 1882-1889.
    BibTeX TR2022-099 PDF Video
    • @inproceedings{Jha2022jul,
    • author = {Jha, Devesh K. and Romeres, Diego and Yerazunis, William S. and Nikovski, Daniel N.},
    • title = {Imitation and Supervised Learning of Compliance for Robotic Assembly},
    • booktitle = {European Control Conference (ECC)},
    • year = 2022,
    • pages = {1882--1889},
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.23919/ECC55457.2022.9838102},
    • isbn = {978-3-9071-4407-7},
    • url = {https://www.merl.com/publications/TR2022-099}
    • }
  •  Demir, A., Koike-Akino, T., Wang, Y., Erdogmus, D., "EEG-GAT: Graph Attention Networks for Classification of Electroencephalogram (EEG) Signals", International Conference of the IEEE Engineering in Medicine & Biology Society (EMBS), DOI: 10.1109/​EMBC48229.2022.9871984, July 2022.
    BibTeX TR2022-097 PDF
    • @inproceedings{Demir2022jul,
    • author = {Demir, Andac and Koike-Akino, Toshiaki and Wang, Ye and Erdogmus, Deniz},
    • title = {EEG-GAT: Graph Attention Networks for Classification of Electroencephalogram (EEG) Signals},
    • booktitle = {International Conference of the IEEE Engineering in Medicine \& Biology Society (EMBS)},
    • year = 2022,
    • month = jul,
    • publisher = {IEEE},
    • doi = {10.1109/EMBC48229.2022.9871984},
    • issn = {2694-0604},
    • isbn = {978-1-7281-2782-8},
    • url = {https://www.merl.com/publications/TR2022-097}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "Python-based Open Source Package for Optimization of Contact-rich Systems", Robotics: Science and Systems, June 2022.
    BibTeX TR2022-089 PDF
    • @inproceedings{Raghunathan2022jun,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {Python-based Open Source Package for Optimization of Contact-rich Systems},
    • booktitle = {Robotics: Science and Systems},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-089}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization", RSS Workshop on The Science of Bumping into Things, June 2022.
    BibTeX TR2022-090 PDF Video
    • @inproceedings{Shirai2022jun,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Robust Pivoting Manipulation Using Bilevel Contact-Implicit Optimization},
    • booktitle = {RSS Workshop on The Science of Bumping into Things},
    • year = 2022,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2022-090}
    • }
  •  Schperberg, A., Di Cairano, S., Menner, M., "Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots", IEEE Robotics and Automation Letters, DOI: 10.1109/​LRA.2022.3185387, Vol. 7, No. 3, pp. 7802-7809, June 2022.
    BibTeX TR2022-085 PDF
    • @article{Schperberg2022jun,
    • author = {Schperberg, Alexander and Di Cairano, Stefano and Menner, Marcel},
    • title = {Auto-Tuning of Controller and Online Trajectory Planner for Legged Robots},
    • journal = {IEEE Robotics and Automation Letters},
    • year = 2022,
    • volume = 7,
    • number = 3,
    • pages = {7802--7809},
    • month = jun,
    • doi = {10.1109/LRA.2022.3185387},
    • url = {https://www.merl.com/publications/TR2022-085}
    • }