Publications

18 / 3,604 publications found.


  •  Sun, L., Jha, D.K., Hori, C., Jain, S., Corcodel, R., Zhu, X., Tomizuka, M., Romeres, D., "Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks", Advances in Neural Information Processing Systems (NeurIPS) Workshop on Instruction Tuning and Instruction Following, December 2023.
    BibTeX TR2023-148 PDF
    • @inproceedings{Sun2023dec,
    • author = {Sun, Lingfeng and Jha, Devesh K. and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego},
    • title = {Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks},
    • booktitle = {Advances in Neural Information Processing Systems (NeurIPS) Workshop on Instruction Tuning and Instruction Following},
    • year = 2023,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2023-148}
    • }
  •  Sun, L., Jha, D.K., Hori, C., Jain, S., Corcodel, R., Zhu, X., Tomizuka, M., Romeres, D., "Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks", arXiv, December 2023.
    BibTeX arXiv
    • @article{Sun2023dec2,
    • author = {Sun, Lingfeng and Jha, Devesh K. and Hori, Chiori and Jain, Siddarth and Corcodel, Radu and Zhu, Xinghao and Tomizuka, Masayoshi and Romeres, Diego},
    • title = {Interactive Planning Using Large Language Models for Partially Observable Robotics Tasks},
    • journal = {arXiv},
    • year = 2023,
    • month = dec,
    • url = {https://arxiv.org/abs/2312.06876}
    • }
  •  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), DOI: 10.1109/​IROS55552.2023.10341988, October 2023, pp. 2963-2970.
    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,
    • pages = {2963--2970},
    • month = oct,
    • publisher = {IEEE},
    • doi = {10.1109/IROS55552.2023.10341988},
    • issn = {2153-0866},
    • isbn = {978-1-6654-9190-7},
    • url = {https://www.merl.com/publications/TR2023-118}
    • }
  •  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}
    • }
  •  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}
    • }
  •  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}
    • }
  •  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}
    • }
  •  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}
    • }
  •  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}
    • }
  •  Cherian, A., Jain, S., Marks, T.K., Sullivan, A., "Discriminative 3D Shape Modeling for Few-Shot Instance Segmentation", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA48891.2023.10160644, May 2023, pp. 9296-9302.
    BibTeX TR2023-010 PDF Presentation
    • @inproceedings{Cherian2023may,
    • author = {Cherian, Anoop and Jain, Siddarth and Marks, Tim K. and Sullivan, Alan},
    • title = {Discriminative 3D Shape Modeling for Few-Shot Instance Segmentation},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2023,
    • pages = {9296--9302},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA48891.2023.10160644},
    • url = {https://www.merl.com/publications/TR2023-010}
    • }
  •  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}
    • }
  •  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}
    • }
  •  Zhu, X., Jain, S., Tomizuka, M., van Baar, J., "Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints", ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation, May 2022.
    BibTeX TR2022-058 PDF
    • @inproceedings{Zhu2022may3,
    • author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and van Baar, Jeroen},
    • title = {Synthesizing and Simulating Volumetric Meshes from Vision-based Tactile Imprints},
    • booktitle = {ICRA 2022 Workshop on Reinforcement Learning for Contact-Rich Manipulation},
    • year = 2022,
    • month = may,
    • url = {https://www.merl.com/publications/TR2022-058}
    • }
  •  Zhu, X., Jain, S., Tomizuka, M., van Baar, J., "Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA46639.2022.9812092, May 2022, pp. 4833-4839.
    BibTeX TR2022-055 PDF
    • @inproceedings{Zhu2022may2,
    • author = {Zhu, Xinghao and Jain, Siddarth and Tomizuka, Masayoshi and van Baar, Jeroen},
    • title = {Learning to Synthesize Volumetric Meshes from Vision-based Tactile Imprints},
    • booktitle = {2022 IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2022,
    • pages = {4833--4839},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA46639.2022.9812092},
    • isbn = {978-1-7281-9681-7},
    • url = {https://www.merl.com/publications/TR2022-055}
    • }
  •  Jha, D.K., Romeres, D., Jain, S., Yerazunis, W.S., Nikovski, D., "Design of Adaptive Compliance Controllers for Safe Robotic Assembly", arXiv, DOI: 10.48550/​arXiv.2204.10447, April 2022.
    BibTeX arXiv
    • @article{Jha2022apr,
    • 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},
    • journal = {arXiv},
    • year = 2022,
    • month = apr,
    • doi = {10.48550/arXiv.2204.10447},
    • url = {https://arxiv.org/abs/2204.10447}
    • }
  •  Cherian, A., Pais, G., Jain, S., Marks, T.K., Sullivan, A., "InSeGAN: A Generative Approach to Segmenting Identical Instances in Depth Images", IEEE International Conference on Computer Vision (ICCV), October 2021, pp. 10023-10032.
    BibTeX TR2021-097 PDF Video Data Software Presentation
    • @inproceedings{Cherian2021oct,
    • author = {Cherian, Anoop and Pais, Goncalo and Jain, Siddarth and Marks, Tim K. and Sullivan, Alan},
    • title = {InSeGAN: A Generative Approach to Segmenting Identical Instances in Depth Images},
    • booktitle = {IEEE International Conference on Computer Vision (ICCV)},
    • year = 2021,
    • pages = {10023--10032},
    • month = oct,
    • publisher = {CVF},
    • url = {https://www.merl.com/publications/TR2021-097}
    • }
  •  Jain, S., Corcodel, R., van Baar, J., "Visual 3D Perception for Interactive Robotic Tactile Data Acquisition", IEEE International Conference on Automation Science and Engineering (CASE 2021), August 2021.
    BibTeX TR2021-092 PDF
    • @inproceedings{Jain2021aug,
    • author = {Jain, Siddarth and Corcodel, Radu and van Baar, Jeroen},
    • title = {Visual 3D Perception for Interactive Robotic Tactile Data Acquisition},
    • booktitle = {2021 IEEE International Conference on Automation Science and Engineering (CASE)},
    • year = 2021,
    • month = aug,
    • url = {https://www.merl.com/publications/TR2021-092}
    • }
  •  Corcodel, R., Jain, S., van Baar, J., "Interactive Tactile Perception for Classification of Novel Object Instances", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS45743.2020.9341795, November 2020, pp. 9861-9868.
    BibTeX TR2020-143 PDF Video
    • @inproceedings{Corcodel2020nov,
    • author = {Corcodel, Radu and Jain, Siddarth and van Baar, Jeroen},
    • title = {Interactive Tactile Perception for Classification of Novel Object Instances},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2020,
    • pages = {9861--9868},
    • month = nov,
    • publisher = {IEEE},
    • doi = {10.1109/IROS45743.2020.9341795},
    • url = {https://www.merl.com/publications/TR2020-143}
    • }