Publications

22 / 3,993 publications found.


  •  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}
    • }
  •  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, 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,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2026-002}
    • }
  •  Shirai, Y., Ota, K., Jha, D.K., Romeres, D., "Sim-to-Real Contact-Rich Pivoting via Optimization-Guided RL with Vision and Touch", Embodied World Models for Decision Making, NeurIPS Workshop, December 2025.
    BibTeX TR2025-169 PDF Video
    • @inproceedings{Shirai2025dec,
    • author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
    • title = {{Sim-to-Real Contact-Rich Pivoting via Optimization-Guided RL with Vision and Touch}},
    • booktitle = {NeurIPS 2025 Workshop on Embodied World Models for Decision Making},
    • year = 2025,
    • month = dec,
    • url = {https://www.merl.com/publications/TR2025-169}
    • }
  •  Jaitly, A., Jha, D.K., Ota, K., Shirai, Y., "Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS60139.2025.11246568, October 2025, pp. 6659-6666.
    BibTeX TR2025-150 PDF Video
    • @inproceedings{Jaitly2025oct,
    • author = {Jaitly, Akshay and Jha, Devesh K. and Ota, Kei and Shirai, Yuki},
    • title = {{Analytic Conditions for Differentiable Collision Detection in Trajectory Optimization}},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2025,
    • pages = {6659--6666},
    • month = oct,
    • doi = {10.1109/IROS60139.2025.11246568},
    • url = {https://www.merl.com/publications/TR2025-150}
    • }
  •  Shirai, Y., Ota, K., Jha, D.K., Romeres, D., "Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations", arXiv, August 2025.
    BibTeX arXiv
    • @article{Shirai2025aug,
    • author = {Shirai, Yuki and Ota, Kei and Jha, Devesh K. and Romeres, Diego},
    • title = {{Learning Pivoting Manipulation with Force and Vision Feedback Using Optimization-based Demonstrations}},
    • journal = {arXiv},
    • year = 2025,
    • month = aug,
    • url = {https://www.arxiv.org/abs/2508.01082}
    • }
  •  Hori, C., Kambara, M., Sugiura, K., Ota, K., Khurana, S., Jain, S., Corcodel, R., Jha, D.K., Romeres, D., Le Roux, J., "Interactive Robot Action Replanning using Multimodal LLM Trained from Human Demonstration Videos", IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP), DOI: 10.1109/​ICASSP49660.2025.10887717, April 2025.
    BibTeX TR2025-034 PDF
    • @inproceedings{Hori2025mar,
    • author = {Hori, Chiori and Kambara, Motonari and Sugiura, Komei and Ota, Kei and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Jha, Devesh K. and Romeres, Diego and {Le Roux}, Jonathan},
    • title = {{Interactive Robot Action Replanning using Multimodal {LLM} Trained from Human Demonstration Videos}},
    • booktitle = {IEEE International Conference on Acoustics, Speech, and Signal Processing (ICASSP)},
    • year = 2025,
    • month = mar,
    • doi = {10.1109/ICASSP49660.2025.10887717},
    • url = {https://www.merl.com/publications/TR2025-034}
    • }
  •  Ota, K., Jha, D.K., Jain, S., Yerazunis, W.S., Corcodel, R., Shukla, Y., Bronars, A., Romeres, D., "Autonomous Robotic Assembly: From Part Singulation to Precise Assembly", IEEE/RSJ International Conference on Intelligent Robots and Systems., DOI: 10.1109/​IROS58592.2024.10802423, October 2024, pp. 13525-13532.
    BibTeX TR2024-133 PDF
    • @inproceedings{Ota2024oct,
    • author = {Ota, Kei and Jha, Devesh K. and Jain, Siddarth and Yerazunis, William S. and Corcodel, Radu and Shukla, Yash and Bronars, Antonia and Romeres, Diego},
    • title = {{Autonomous Robotic Assembly: From Part Singulation to Precise Assembly}},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems.},
    • year = 2024,
    • pages = {13525--13532},
    • month = oct,
    • publisher = {IEEE},
    • doi = {10.1109/IROS58592.2024.10802423},
    • issn = {2153-0866},
    • url = {https://www.merl.com/publications/TR2024-133}
    • }
  •  Kambara, M., Hori, C., Sugiura, K., Ota, K., Jha, D.K., Khurana, S., Jain, S., Corcodel, R., Romeres, D., Le Roux, J., "Human Action Understanding-based Robot Planning using Multimodal LLM", IEEE International Conference on Robotics and Automation (ICRA), June 2024.
    BibTeX TR2024-066 PDF
    • @inproceedings{Kambara2024jun,
    • author = {Kambara, Motonari and Hori, Chiori and Sugiura, Komei and Ota, Kei and Jha, Devesh K. and Khurana, Sameer and Jain, Siddarth and Corcodel, Radu and Romeres, Diego and {Le Roux}, Jonathan},
    • title = {{Human Action Understanding-based Robot Planning using Multimodal LLM}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA) Workshop},
    • year = 2024,
    • month = jun,
    • url = {https://www.merl.com/publications/TR2024-066}
    • }
  •  Liang, B., Ota, K., Tomizuka, M., Jha, D.K., "Robust In-Hand Manipulation with Extrinsic Contacts", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA57147.2024.10611664, May 2024, pp. 6544-6550.
    BibTeX TR2024-061 PDF Video
    • @inproceedings{Liang2024may,
    • author = {Liang, Boyuan and Ota, Kei and Tomizuka, Masayoshi and Jha, Devesh K.},
    • title = {{Robust In-Hand Manipulation with Extrinsic Contacts}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • pages = {6544--6550},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA57147.2024.10611664},
    • isbn = {979-8-3503-8457-4},
    • url = {https://www.merl.com/publications/TR2024-061}
    • }
  •  Ota, K., Jha, D.K., Kanezaki, A., "A Framework for Training Larger Networks for Deep Reinforcement Learning", Machine Learning Journal, DOI: 10.1007/​s10994-024-06547-6, Vol. 113, pp. 6115–6139, May 2024.
    BibTeX TR2024-058 PDF
    • @article{Ota2024may3,
    • author = {Ota, Kei and Jha, Devesh K. and Kanezaki, Asako},
    • title = {{A Framework for Training Larger Networks for Deep Reinforcement Learning}},
    • journal = {Machine Learning Journal},
    • year = 2024,
    • volume = 113,
    • pages = {6115–6139},
    • month = may,
    • doi = {10.1007/s10994-024-06547-6},
    • url = {https://www.merl.com/publications/TR2024-058}
    • }
  •  Ota, K., Jha, D.K., Jatavallabhula, K., Kanezaki, A., Tenenbaum, J.B., "Tactile Estimation of Extrinsic Contact Patch for Stable Placement", IEEE International Conference on Robotics and Automation (ICRA), DOI: 10.1109/​ICRA57147.2024.10611504}, May 2024, pp. 13876-13882.
    BibTeX TR2024-053 PDF
    • @inproceedings{Ota2024may2,
    • author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna and Kanezaki, Asako and Tenenbaum, Joshua B.},
    • title = {{Tactile Estimation of Extrinsic Contact Patch for Stable Placement}},
    • booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
    • year = 2024,
    • pages = {13876--13882},
    • month = may,
    • publisher = {IEEE},
    • doi = {10.1109/ICRA57147.2024.10611504}},
    • isbn = {979-8-3503-8457-4},
    • url = {https://www.merl.com/publications/TR2024-053}
    • }
  •  Ota, K., Jha, D.K., Jatavallabhula, K., Kanezaki, A., Tenenbaum, J.B., "Estimation of Extrinsic Contact Patch for Stable Placement", IEEE IROS 2023 Workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI, September 2023.
    BibTeX TR2024-018 PDF
    • @inproceedings{Ota2023sep2,
    • author = {Ota, Kei and Jha, Devesh K. and Jatavallabhula, Krishna and Kanezaki, Asako and Tenenbaum, Joshua B.},
    • title = {{Estimation of Extrinsic Contact Patch for Stable Placement}},
    • booktitle = {IEEE IROS 2023 Workshop on Visuo-Tactile Perception, Learning, Control for Manipulation and HRI},
    • year = 2023,
    • month = sep,
    • url = {https://www.merl.com/publications/TR2024-018}
    • }
  •  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}
    • }
  •  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 Video
    • @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}
    • }
  •  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}
    • }
  •  Ota, K., Jha, D.K., Romeres, D., van Baar, J., Smith, K., Semistsu, T., Oiki, T., Sullivan, A., Nikovski, D.N., Tenenbaum, J.B., "Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation", IEEE Robotics and Automation Letters, DOI: 10.1109/​LRA.2021.3068887, Vol. 6, No. 2, March 2021.
    BibTeX TR2021-032 PDF Video Software
    • @article{Ota2021mar,
    • author = {Ota, Kei and Jha, Devesh K. and Romeres, Diego and {van Baar}, Jeroen and Smith, Kevin and Semistsu, Takayuki and Oiki, Tomoaki and Sullivan, Alan and Nikovski, Daniel N. and Tenenbaum, Joshua B.},
    • title = {{Data-Efficient Learning for Complex and Real-Time Physical Problem Solving using Augmented Simulation}},
    • journal = {IEEE Robotics and Automation Letters},
    • year = 2021,
    • volume = 6,
    • number = 2,
    • month = mar,
    • doi = {10.1109/LRA.2021.3068887},
    • url = {https://www.merl.com/publications/TR2021-032}
    • }
  •  Ota, K., Jha, D.K., Kanezaki, A., "Training Larger Networks for Deep Reinforcement Learning", arXiv, February 2021.
    BibTeX arXiv
    • @inproceedings{Ota2021feb,
    • author = {Ota, Kei and Jha, Devesh K. and Kanezaki, Asako},
    • title = {{Training Larger Networks for Deep Reinforcement Learning}},
    • booktitle = {arXiv},
    • year = 2021,
    • month = feb,
    • url = {https://arxiv.org/abs/2102.07920}
    • }
  •  Ota, K., Jha, D.K., Onishi, T., Kanezaki, A., Yoshiyasu, Y., Mariyama, T., Nikovski, D.N., "Deep Reactive Planning in Dynamic Environments", Conference on Robot Learning (CoRL), Kober, Jens and Ramos, Fabio and Tomlin, Calire, Eds., November 2020, pp. 1943-1957.
    BibTeX TR2020-144 PDF Video
    • @inproceedings{Ota2020nov2,
    • author = {Ota, Kei and Jha, Devesh K. and Onishi, Tadashi and Kanezaki, Asako and Yoshiyasu, Yusuke and Mariyama, Toshisada and Nikovski, Daniel N.},
    • title = {{Deep Reactive Planning in Dynamic Environments}},
    • booktitle = {Conference on Robot Learning (CoRL)},
    • year = 2020,
    • editor = {Kober, Jens and Ramos, Fabio and Tomlin, Calire},
    • pages = {1943--1957},
    • month = nov,
    • publisher = {Proceedings of Machine Learning Research},
    • url = {https://www.merl.com/publications/TR2020-144}
    • }
  •  Ota, K., Sasaki, Y., Jha, D., Yoshiyasu, Y., Kanezaki, A., "Efficient Exploration in Constrained Environments with Goal-Oriented Reference Path", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), November 2020.
    BibTeX TR2020-141 PDF Software
    • @inproceedings{Ota2020nov,
    • author = {Ota, Kei and Sasaki, Yoko and Jha, Devesh and Yoshiyasu, Yusuke and Kanezaki, Asako},
    • title = {{Efficient Exploration in Constrained Environments with Goal-Oriented Reference Path}},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2020,
    • month = nov,
    • url = {https://www.merl.com/publications/TR2020-141}
    • }
  •  Ota, K., Oiki, T., Jha, D.K., Mariyama, T., Nikovski, D.N., "Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?", International Conference on Machine Learning (ICML), Daumé III , Hal and Singh, Aarti, Eds., June 2020, pp. 7424-7433.
    BibTeX TR2020-083 PDF Software
    • @inproceedings{Ota2020jun,
    • author = {Ota, Kei and Oiki, Tomoaki and Jha, Devesh K. and Mariyama, Toshisada and Nikovski, Daniel N.},
    • title = {{Can Increasing Input Dimensionality Improve Deep Reinforcement Learning?}},
    • booktitle = {International Conference on Machine Learning (ICML)},
    • year = 2020,
    • editor = {Daumé III , Hal and Singh, Aarti},
    • pages = {7424--7433},
    • month = jun,
    • publisher = {PMLR},
    • url = {https://www.merl.com/publications/TR2020-083}
    • }
  •  Ota, K., Jha, D.K., Oiki, T., Miura, M., Nammoto, T., Nikovski, D., Mariyama, T., "Trajectory Optimization for Unknown Constrained Systems using Reinforcement Learning", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), DOI: 10.1109/​IROS40897.2019.8968010, November 2019, pp. 3487-3494.
    BibTeX TR2019-129 PDF
    • @inproceedings{Ota2019nov,
    • author = {Ota, Kei and Jha, Devesh K. and Oiki, Tomohiro and Miura, Mamoru and Nammoto, Takashi and Nikovski, Daniel and Mariyama, Toshisada},
    • title = {{Trajectory Optimization for Unknown Constrained Systems using Reinforcement Learning}},
    • booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
    • year = 2019,
    • pages = {3487--3494},
    • month = nov,
    • publisher = {IEEE},
    • doi = {10.1109/IROS40897.2019.8968010},
    • issn = {2153-0866},
    • isbn = {978-1-7281-4004-9},
    • url = {https://www.merl.com/publications/TR2019-129}
    • }