Publications

50 / 3,313 publications found.


  •  Raghunathan, A., Cardonha, C., Bergman, D., Nohra, C.J., "Recursive McCormick Linearization of Multilinear Programs", arXiv, July 2022.
    BibTeX arXiv
    • @article{Raghunathan2022jul,
    • author = {Raghunathan, Arvind and Cardonha, Carlos and Bergman, David and Nohra, Carlos J.},
    • title = {Recursive McCormick Linearization of Multilinear Programs},
    • journal = {arXiv},
    • year = 2022,
    • month = jul,
    • url = {https://arxiv.org/abs/2207.08955}
    • }
  •  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
    • @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}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation", IEEE International Conference on Robotics and Automation (ICRA), May 2022.
    BibTeX TR2022-057 PDF Software
    • @inproceedings{Raghunathan2022may,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {PYROBOCOP: Python-based Robotic Control & Optimization Package for Manipulation},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • month = may,
    • url = {https://www.merl.com/publications/TR2022-057}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization", IEEE International Conference on Robotics and Automation (ICRA), May 2022.
    BibTeX TR2022-045 PDF
    • @inproceedings{Shirai2022may,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Robust Pivoting: Exploiting Frictional Stability Using Bilevel Optimization},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • month = may,
    • url = {https://www.merl.com/publications/TR2022-045}
    • }
  •  Shirai, Y., Jha, D.K., Raghunathan, A., Romeres, D., "Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation", arXiv, March 2022.
    BibTeX
    • @article{Shirai2022mar,
    • author = {Shirai, Yuki and Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Chance-Constrained Optimization in Contact-Rich Systems for Robust Manipulation},
    • journal = {arXiv},
    • year = 2022,
    • month = mar
    • }
  •  Nohra, C.J., Raghunathan, A., Sahinidis, N.V., "SDP-quality bounds via convex quadratic relaxations for global optimization of mixed-integer quadratic programs", Mathematical Programming B, December 2021.
    BibTeX TR2022-001 PDF
    • @article{Nohra2021dec,
    • author = {Nohra, Carlos J. and Raghunathan, Arvind and Sahinidis, Nikolaos V.},
    • title = {SDP-quality bounds via convex quadratic relaxations for global optimization of mixed-integer quadratic programs},
    • journal = {Mathematical Programming B},
    • year = 2021,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2022-001}
    • }
  •  Raghunathan, A., "Homogeneous Formulation of Convex Quadratic Programs for Infeasibility Detection", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC45484.2021.9682847, December 2021, pp. 968-973.
    BibTeX TR2021-150 PDF
    • @inproceedings{Raghunathan2021dec2,
    • author = {Raghunathan, Arvind},
    • title = {Homogeneous Formulation of Convex Quadratic Programs for Infeasibility Detection},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2021,
    • pages = {968--973},
    • month = dec,
    • doi = {10.1109/CDC45484.2021.9682847},
    • issn = {2576-2370},
    • isbn = {978-1-6654-3659-5},
    • url = {https://www.merl.com/publications/TR2021-150}
    • }
  •  Raghunathan, A., "Homogeneous Formulation of Convex Quadratic Programs for Infeasibility Detection", IEEE Conference on Decision and Control (CDC), DOI: 10.1109/​CDC45484.2021.9682847, December 2021, pp. 968-973.
    BibTeX TR2021-150 PDF
    • @inproceedings{Raghunathan2021dec,
    • author = {Raghunathan, Arvind},
    • title = {Homogeneous Formulation of Convex Quadratic Programs for Infeasibility Detection},
    • booktitle = {IEEE Conference on Decision and Control (CDC)},
    • year = 2021,
    • pages = {968--973},
    • month = dec,
    • doi = {10.1109/CDC45484.2021.9682847},
    • issn = {2576-2370},
    • isbn = {978-1-6654-3659-5},
    • url = {https://www.merl.com/publications/TR2021-150}
    • }
  •  Raghunathan, A., Jha, D.K., Romeres, D., "PYROBOCOP: Python-based Robotic Control & Optimization Package", arXiv, June 2021.
    BibTeX arXiv
    • @article{Raghunathan2021jun,
    • author = {Raghunathan, Arvind and Jha, Devesh K. and Romeres, Diego},
    • title = {PYROBOCOP: Python-based Robotic Control & Optimization Package},
    • journal = {arXiv},
    • year = 2021,
    • month = jun,
    • url = {https://arxiv.org/abs/2106.03220}
    • }
  •  Jin, S., Romeres, D., Raghunathan, A., Jha, D.K., Tomizuka, M., "Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48506.2021.9561556, June 2021.
    BibTeX TR2021-072 PDF
    • @inproceedings{Jin2021jun,
    • author = {Jin, Shiyu and Romeres, Diego and Raghunathan, Arvind and Jha, Devesh K. and Tomizuka, Masayoshi},
    • title = {Trajectory Optimization for Manipulation of Deformable Objects: Assembly of Belt Drive Units},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2021,
    • month = jun,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48506.2021.9561556},
    • issn = {2577-087X},
    • isbn = {978-1-7281-9077-8},
    • url = {https://www.merl.com/publications/TR2021-072}
    • }
  •  Bergman, David, Huang, Teng, Brooks, Philip, Lodi, Andrea, Raghunathan, Arvind, "JANOS: An Integrated Predictive and Prescriptive Modeling Framework", Tech. Rep. TR2021-025, Mitsubishi Electric Research Laboratories, Cambridge, MA, April 2021.
    BibTeX TR2021-025 PDF
    • @techreport{MERL_TR2021-025,
    • author = {Bergman, David; Huang, Teng; Brooks, Philip; Lodi, Andrea; Raghunathan, Arvind},
    • title = {JANOS: An Integrated Predictive and Prescriptive Modeling Framework},
    • institution = {MERL - Mitsubishi Electric Research Laboratories},
    • address = {Cambridge, MA 02139},
    • number = {TR2021-025},
    • month = apr,
    • year = 2021,
    • url = {https://www.merl.com/publications/TR2021-025/}
    • }
  •  Bergman, D., Huang, T., Brooks, P., Lodi, A., Raghunathan, A., "JANOS: An Integrated Predictive and Prescriptive Modeling Framework", INFORMS Journal on Computing, DOI: 10.1287/​ijoc.2020.1023, Vol. 34, No. 2, pp. 807–816, March 2021.
    BibTeX INFORMS
    • @article{Bergman2021mar,
    • author = {Bergman, David and Huang, Teng and Brooks, Philip and Lodi, Andrea and Raghunathan, Arvind},
    • title = {JANOS: An Integrated Predictive and Prescriptive Modeling Framework},
    • journal = {INFORMS Journal on Computing},
    • year = 2021,
    • volume = 34,
    • number = 2,
    • pages = {807–816},
    • month = mar,
    • doi = {10.1287/ijoc.2020.1023},
    • url = {https://pubsonline.informs.org/doi/10.1287/ijoc.2020.1023}
    • }
  •  Serra, T., Huang, T., Raghunathan, A., Bergman, D., "Template-based Minor Embedding for Adiabatic Quantum Optimization", INFORMS Journal on Computing, DOI: 10.1287/​ijoc.2021.1065, Vol. 34, No. 1, pp. 427–439, December 2020.
    BibTeX TR2020-181 PDF Software
    • @article{Serra2020dec,
    • author = {Serra, Thiago and Huang, Teng and Raghunathan, Arvind and Bergman, David},
    • title = {Template-based Minor Embedding for Adiabatic Quantum Optimization},
    • journal = {INFORMS Journal on Computing},
    • year = 2020,
    • volume = 34,
    • number = 1,
    • pages = {427–439},
    • month = dec,
    • doi = {10.1287/ijoc.2021.1065},
    • url = {https://www.merl.com/publications/TR2020-181}
    • }
  •  Nohra, C.J., Raghunathan, A., Sahinidis, N.V., "Spectral relaxations and branching strategies for global optimization of mixed-integer quadratic programs", SIAM Journal on Optimization, DOI: 10.1137/​19M1271762, Vol. 31, No. 1, pp. 142–171, December 2020.
    BibTeX TR2020-178 PDF
    • @article{Nohra2020dec2,
    • author = {Nohra, Carlos J. and Raghunathan, Arvind and Sahinidis, Nikolaos V.},
    • title = {Spectral relaxations and branching strategies for global optimization of mixed-integer quadratic programs},
    • journal = {SIAM Journal on Optimization},
    • year = 2020,
    • volume = 31,
    • number = 1,
    • pages = {142–171},
    • month = dec,
    • doi = {10.1137/19M1271762},
    • url = {https://www.merl.com/publications/TR2020-178}
    • }
  •  Raghunathan, A., Linderoth, J., "Stability Analysis of Discrete-Time Linear Complementarity Systems", arXiv, December 2020.
    BibTeX arXiv
    • @article{Raghunathan2020dec,
    • author = {Raghunathan, Arvind and Linderoth, Jeffrey},
    • title = {Stability Analysis of Discrete-Time Linear Complementarity Systems},
    • journal = {arXiv},
    • year = 2020,
    • month = dec,
    • url = {https://arxiv.org/abs/2012.13287}
    • }
  •  Chakrabarty, A., Raghunathan, A., Di Cairano, S., Danielson, C., "Active Learning for Estimating Reachable Sets for Systems with Unknown Dynamics", IEEE Transactions on Cybernetics, DOI: 10.1109/​TCYB.2020.3000966, December 2020.
    BibTeX TR2020-164 PDF
    • @article{Chakrabarty2020dec,
    • author = {Chakrabarty, Ankush and Raghunathan, Arvind and Di Cairano, Stefano and Danielson, Claus},
    • title = {Active Learning for Estimating Reachable Sets for Systems with Unknown Dynamics},
    • journal = {IEEE Transactions on Cybernetics},
    • year = 2020,
    • month = dec,
    • doi = {10.1109/TCYB.2020.3000966},
    • url = {https://www.merl.com/publications/TR2020-164}
    • }
  •  Konno, N., Raghunathan, A., "Data-Driven Joint Optimization of Pricing and Seat Allocation in Trains", International Conference on Railway Engineering Design and Operation (COMPRAIL), DOI: 10.2495/​CR200351, July 2020, pp. 379-392.
    BibTeX TR2020-094 PDF
    • @inproceedings{Konno2020jul2,
    • author = {Konno, Naoto and Raghunathan, Arvind},
    • title = {Data-Driven Joint Optimization of Pricing and Seat Allocation in Trains},
    • booktitle = {International Conference on Railway Engineering Design and Operation (COMPRAIL)},
    • year = 2020,
    • pages = {379--392},
    • month = jul,
    • publisher = {WIT Press},
    • doi = {10.2495/CR200351},
    • url = {https://www.merl.com/publications/TR2020-094}
    • }
  •  Jha, D.K., Kolaric, P., Raghunathan, A., Lewis, F., Benosman, M., Romeres, D., Nikovski, D.N., "Local Policy Optimization for Trajectory-Centric Reinforcement Learning", IEEE International Conference on Robotics and Automation (ICRA), Ayanna Howard, Eds., May 2020, pp. 5094-5100.
    BibTeX TR2020-062 PDF
    • @inproceedings{Jha2020may,
    • author = {Jha, Devesh K. and Kolaric, Patrik and Raghunathan, Arvind and Lewis, Frank and Benosman, Mouhacine and Romeres, Diego and Nikovski, Daniel N.},
    • title = {Local Policy Optimization for Trajectory-Centric Reinforcement Learning},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2020,
    • editor = {Ayanna Howard},
    • pages = {5094--5100},
    • month = may,
    • publisher = {IEEE},
    • isbn = {978-1-7281-7395-5},
    • url = {https://www.merl.com/publications/TR2020-062}
    • }
  •  Jha, D.K., Kolaric, P., Romeres, D., Raghunathan, A., Benosman, M., Nikovski, D.N., "Robust Optimization for Trajectory-Centric Model-based Reinforcement Learning", NeurIPS Workshop on Safety and Robustness in Decision Making, December 2019.
    BibTeX TR2019-156 PDF
    • @inproceedings{Jha2019dec2,
    • author = {Jha, Devesh K. and Kolaric, Patrik and Romeres, Diego and Raghunathan, Arvind and Benosman, Mouhacine and Nikovski, Daniel N.},
    • title = {Robust Optimization for Trajectory-Centric Model-based Reinforcement Learning},
    • booktitle = {NeurIPS Workshop on Safety and Robustness in Decision Making},
    • year = 2019,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2019-156}
    • }
  •  Jha, D.K., Raghunathan, A., Romeres, D., "QNTRPO: Including Curvature in TRPO", Optimization Foundations for Reinforcement Learning Workshop at NeurIPS, December 2019.
    BibTeX TR2019-154 PDF Software
    • @inproceedings{Jha2019dec,
    • author = {Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {QNTRPO: Including Curvature in TRPO},
    • booktitle = {Optimization Foundations for Reinforcement Learning Workshop at NeurIPS},
    • year = 2019,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2019-154}
    • }
  •  Jha, D.K., Raghunathan, A., Romeres, D., "Quasi-Newton Trust Region Policy Optimization", Conference on Robot Learning (CoRL), Leslie Pack Kaelbling, Danica Kragic, Komei Sugiura, Eds., October 2019, pp. 945-954.
    BibTeX TR2019-120 PDF Software
    • @inproceedings{Jha2019oct,
    • author = {Jha, Devesh K. and Raghunathan, Arvind and Romeres, Diego},
    • title = {Quasi-Newton Trust Region Policy Optimization},
    • booktitle = {Conference on Robot Learning (CoRL)},
    • year = 2019,
    • editor = {Leslie Pack Kaelbling, Danica Kragic, Komei Sugiura},
    • pages = {945--954},
    • month = oct,
    • publisher = {Proceedings of Machine Learning Research},
    • url = {https://www.merl.com/publications/TR2019-120}
    • }
  •  Raghunathan, A., Cherian, A., Jha, D.K., "Game Theoretic Optimization via Gradient-based Nikaido-Isoda Function", International Conference on Machine Learning (ICML), Lawrence, N. and Reid, M., Eds., June 2019, pp. 5291-5300.
    BibTeX TR2019-045 PDF Software
    • @inproceedings{Raghunathan2019jun,
    • author = {Raghunathan, Arvind and Cherian, Anoop and Jha, Devesh K.},
    • title = {Game Theoretic Optimization via Gradient-based Nikaido-Isoda Function},
    • booktitle = {International Conference on Machine Learning (ICML)},
    • year = 2019,
    • editor = {Lawrence, N. and Reid, M.},
    • pages = {5291--5300},
    • month = jun,
    • publisher = {PMLR},
    • issn = {2640-3498},
    • url = {https://www.merl.com/publications/TR2019-045}
    • }
  •  Ploskas, N., Laughman, C.R., Raghunathan, A., Sahinidis, N.V., "Heat Exchanger Circuitry Design by Decision Diagrams", International Conference on the Integration of Constraint Programming, Artificial Intelligence, and Operations Research, DOI: 10.1007/​978-3-030-19212-9_30, June 2019, vol. 11494, pp. 467-471.
    BibTeX TR2019-038 PDF
    • @inproceedings{Ploskas2019jun,
    • author = {Ploskas, Nikolaos and Laughman, Christopher R. and Raghunathan, Arvind and Sahinidis, Nikolaos V.},
    • title = {Heat Exchanger Circuitry Design by Decision Diagrams},
    • booktitle = {International Conference on the Integration of Constraint Programming, Artificial Intelligence, and Operations Research},
    • year = 2019,
    • volume = 11494,
    • pages = {467--471},
    • month = jun,
    • doi = {10.1007/978-3-030-19212-9_30},
    • url = {https://www.merl.com/publications/TR2019-038}
    • }
  •  Serra, T., Raghunathan, A., Bergman, D., Hooker, J., Kobori, S., "Last-Mile Scheduling Under Uncertainty", International Conference on the Integration of Constraint Programming, Artificial Intelligence, and Operations Research, DOI: 10.1007/​978-3-030-19212-9_34, June 2019, vol. 11494, pp. 519-528.
    BibTeX TR2019-040 PDF
    • @inproceedings{Serra2019jun,
    • author = {Serra, Thiago and Raghunathan, Arvind and Bergman, David and Hooker, John and Kobori, Shingo},
    • title = {Last-Mile Scheduling Under Uncertainty},
    • booktitle = {International Conference on the Integration of Constraint Programming, Artificial Intelligence, and Operations Research},
    • year = 2019,
    • volume = 11494,
    • pages = {519--528},
    • month = jun,
    • doi = {10.1007/978-3-030-19212-9_34},
    • url = {https://www.merl.com/publications/TR2019-040}
    • }